Hardware Version: 1.00
Software Version: 1.66
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The information contained herein is the property of Techman Robot Corporation (hereinafter referred to as
the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without
prior authorization from the Corporation. No information contained herein shall be considered an offer or
commitment. It may be subject to change without notice. This Manual should be reviewed periodically. The
Corporation will not be liable for any error or omission.
and logos are the registered trademark of TECHMAN ROBOT INC. and the company
reserves the ownership of this manual and its copy and its copyrights.
Release Date: 2018-07-13
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I Hardware Installation Manual
I Hardware Installation Manual ...................................................................................................................... i
1. Safety Information .................................................................................................................................... 1
1.1 Overview ......................................................................................................................................... 1
1.2 Validation and Liability ..................................................................................................................... 1
1.3 Limitations on Liability...................................................................................................................... 1
1.4 Warning and Caution Symbols......................................................................................................... 2
1.5 General Safety Warning................................................................................................................... 3
1.6 Scope of Use ................................................................................................................................... 5
1.7 Risk Assessment ............................................................................................................................. 6
1.8 Emergency Stop .............................................................................................................................. 6
1.9 Joint Rotation without Drive Power .................................................................................................. 7
2. Safety Functions and Interface ................................................................................................................. 8
2.1 Overview ......................................................................................................................................... 8
2.2 Safe Stop Time ................................................................................................................................ 9
2.3 Safety-related Limiting Mechanisms .............................................................................................. 10
2.4 Singularity/Singular Point ............................................................................................................... 10
2.5 Safety setting ................................................................................................................................. 14
2.5.1 Operating Position................................................................................................................... 17
2.5.2 Operating Position of TM Robot with AGV ............................................................................... 17
2.6 Operating Mode ............................................................................................................................. 18
2.6.1 Auto Mode ............................................................................................................................... 18
2.6.2 Manual Mode .......................................................................................................................... 18
2.6.2.1 Manual Control Mode ....................................................................................................... 18
2.6.2.2 Manual Trial Run Mode ..................................................................................................... 18
2.6.3 Changing the Operating Mode ................................................................................................ 19
2.7 Hold to Run ................................................................................................................................... 19
2.8 Collaborative Mode and Safety Zone Setup ................................................................................... 20
2.8.1 Collaborative Mode and Parameter Configuration ................................................................... 20
2.8.2 Collaborative Space Configuration for Safety .......................................................................... 22
3. Transportation......................................................................................................................................... 28
4. System Hardware ................................................................................................................................... 29
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4.1 Overview ....................................................................................................................................... 29
4.2 System Overview ........................................................................................................................... 29
4.2.1 Robot Arm ............................................................................................................................... 30
4.2.1.1 Robot Range of Motion ..................................................................................................... 30
4.2.1.2 Robot Arm Maximum Allowed Payload ............................................................................. 34
4.2.1.3 Robot Arm Installation ....................................................................................................... 35
4.2.2 Robot End Module .................................................................................................................. 36
4.2.2.1 End Module Components ................................................................................................. 36
4.2.3 End Flange Surface ................................................................................................................ 38
4.2.4 End Mounting Caution ............................................................................................................. 39
4.2.4.1 End Indication Light Ring Table ......................................................................................... 39
4.2.5 Control Box ............................................................................................................................. 41
4.2.5.1 Robot Stick ....................................................................................................................... 41
5. Electrical Interface .................................................................................................................................. 44
5.1 Overview ....................................................................................................................................... 44
5.2 Electrical Warnings and Cautions .................................................................................................. 44
5.3 Control Box .................................................................................................................................... 45
5.3.1 Safety Connector .................................................................................................................... 45
5.3.2 Power Connector .................................................................................................................... 47
5.3.3 Digital In/Out ........................................................................................................................... 48
5.3.4 Analog In ................................................................................................................................. 50
5.3.5 Analog Out .............................................................................................................................. 50
5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................ 51
5.3.7 USB Port ................................................................................................................................. 51
5.4 Tool End I/O Interface .................................................................................................................... 52
5.4.1 I/O Terminals ........................................................................................................................... 52
5.4.2 Connecting Tool End Digital Out .............................................................................................. 54
5.4.3 Connecting Tool End Digital In ................................................................................................ 54
5.4.4 Connecting Tool End Analog In ............................................................................................... 55
5.5 Control Box Interfaces ................................................................................................................... 55
5.6 Control Box Power Interface and Robot Interface .......................................................................... 57
5.6.1 Control Box Power Interface ................................................................................................... 57
5.6.2 Robot Interface ....................................................................................................................... 59
6. Maintenance and Repair ......................................................................................................................... 60
7. Warranty Statement ................................................................................................................................ 61
7.1 Product Warranty ........................................................................................................................... 61
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7.2 Disclaimer ...................................................................................................................................... 61
Appendix A. Stop Time and Distance .......................................................................................................... 62
Appendix B. Technical Specifications .......................................................................................................... 63
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I Hardware Installation Manual 1. Safety Information
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1. Safety Information
1.1 Overview
This chapter describes important safety information about the Techman Robot. The users and system
integrators of the Techman Robot should carefully read and understand this chapter before using this
robot.
1.2 Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete robotic
arm system, nor involves the peripherals which may affect the safety of the complete system. The design
and installation of the complete system must comply with the safety standards and regulations in the
country of use. The integrators of the robot should understand the safety laws and regulations in their
countries and prevent major hazards from occurring in the complete system.
This includes but is not limited to:
Risk assessment of the whole system;
Adding other machines and additional safety mechanisms based on the results of the risk
assessment;
Building appropriate safety mechanisms in the software;
Ensuring the user will not modify any safety-related measures;
Ensuring all systems are correctly designed and installed;
Clearly labeling user instructions;
Clearly marked symbols for installation of the robot arm and the integrator contact details; and
Collecting all documents into the technology folder, including the risk assessment, and this
Manual.
1.3 Limitations on Liability
No safety-related information shall be considered a guarantee by Techman Robot that TM5 will not
cause personnel injury or property damage.
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Danger
1.4 Warning and Caution Symbols
The Table below shows the definitions of the warning and caution levels described in each paragraph of
this Manual. Pay close attention to them when reading each paragraph, and observe them to avoid
personal injuries or equipment damage.
This symbol indicates that failure to observe these instructions will lead to death or
serious injuries.
This symbol indicates that failure to observe these instructions may lead to injuries.
This symbol indicates that failure to observe these instructions may lead to equipment
damage.
Danger
Warning
Note
Warning
Note
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1.5 General Safety Warning
The following shows the general warnings and cautions. Note that there may be related warnings and
cautions listed in the remaining sections, in addition to the ones described in this section. Read them
carefully as well.
1. Before handling, installation, operating, maintaining and servicing this product, carefully read the
product's specifications and operating manual. Make sure that all conditions meet the requirements of
the specifications and manual to avoid unexpected accidents during use (e.g. improper operation or
operating conditions that exceed the product specifications) that may cause personnel injury or
damage to this product.
2. Before using and installing this product, the installer must perform the necessary risk assessments
based on the conditions of use to avoid serious personal injuries during operation (e.g. Collision
between equipment and personnel) due to improper parameter settings.
1. Before using this product, make sure that there is at least 1 or more emergency stop device on the
machine to stop the movement of the robot in case of accidents. Always make sure that the devices
are functioning properly.
2. Prior to assembly and disassembly, or servicing and maintenance of this product, make sure that the
power is disconnected and the rear area is clear before proceeding. Doing so will help prevent injury
to personnel or damage to equipment due to accidental short-circuits or electrocution during use.
3. When operating this product, the operator should not wear loose clothing or other accessories (e.g.
necklaces, ties,and bracelets) to avoid injuries which may happen when said clothes or accessories
are drawn into the machine during operation.
4. In the event of product malfunction, follow the proper procedures and channels to contact qualified
personnel for troubleshooting and repair. To prevent damage to the equipment due to improper
disassembly, the operator is strictly prohibited against attempting to make direct repairs.
Danger
Warning
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5. Before the robot begins operations, make sure that each part is secured in place to prevent any
accidents due to the robot being improperly secured during operation.
6. Before the robot begins operations, always make sure that no personnel or obstacles are within its
range of motion. If the operating environment involves human-machine collaborative work, always
perform the necessary risk assessments before the start of operations.
7. Unauthorized personnel are not allowed to operate this product in order to prevent any possibility of
personal injury or damage to the machine caused by improper operation.
8. Do not install or operate this product in dangerous environments (e.g. in the presence of a strong
magnetic field; dangerous gases; fire, or flammables) to avoid dangers which may occur due to
external conditions during operation.
1. Personnel approaching or operating the robot should check the machine warning lights before
proceeding.
2. After editing the task flow, always start operations in Manual Mode to check that all actions can be
performed correctly during operation before switching the operating mode to Auto.
3. Do not turn off power to the machine while it is in motion unless absolutely necessary.
Note
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1.6 Scope of Use
The TM Robot is a collaborative robot with a built-in vision system. The dedicated HMI simplifies robot
deployment and increases its operational flexibility, making it suitable able for the production and
manufacturing industries.
The design of the TM Robot focuses on the safety of the human-machine collaboration. However, the
collaborative robot is intended only for the applications for which risk assessment has been conducted
without any hazards identified. The risk assessment involves the robot and the related peripherals as
well as environment.
The risk assessment has been performed for any use or application and no hazard is found. The use of
the robot for any purpose other than the intended is prohibited. The Corporation shall not in any event be
liable for any conditions including, but not limited to, the following:
Use in a potentially hazardous environment
Use in any applications that may threaten human lives
Use in any application that may cause personal injuries
Use before completion of the risk assessment
Use for auxiliary support
Use when the rated performance cannot be reached
Use when the reaction time of safety functions is insufficient.
Use with inappropriate parameters for operations
Applications which may cause damage to the robot itself
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1.7 Risk Assessment
Before using and installing this product, the user must perform the necessary risk assessments based on
the conditions of use. Refer to the regulations specified in the documentation, such as ISO-10218-2,
ISO-12100, and ISO-15066 for details. The purpose of the risk assessment is to predict possible
accidents during the operation, and prevent the occurrence of accidents or reduce the severity of injuries
effectively with appropriate protective measures. Therefore, the scope of the risk assessment must
include any operation of the machine. Once a risk assessment has been conducted, the user may use
the relevant external components (e.g. sensors, emergency stop devices, fencing or other barrier
devices) and configuration of safety-related parameters in the operating system to prevent potential
accidents during operations. External safety-related components should be installed as directed. Refer
to Chapter 2 for the safety settings of the operating system and how other safety components should be
used.
TM Robot expressly indicates that the major significant residual risk below may exist:
1. Excessive rotation of the 6th joint may result in the fingers being caught between the rear-end of the
camera module and the 5th joint module.
2. The palm or fingers may get caught between the end module and the body of the robot during robot
motion or Hand Guide Instruction.
3. Injuries due to collision with the robot.
4. Injuries due to being hit, crushed, or pinched between the robot and a hard surface.
5. Injuries caused by loose screws which are used to fix the robot to the base.
6. TM Robot explicitly states that serious residual risk may exist in the following scenarios: There is a
risk that improper configuration of the collaborative zone or safety space, as well as the running of
incorrect projects, may lead to the robot colliding at full speed with the human body within the
collaborative space.
1.8 Emergency Stop
If any accidents occur during the operation of the robot, the user can stop all movement by pressing the
Emergency Stop button. When the robot stops, the user must ensure that all fault conditions are
eliminated before manually turning off the limit switch for the Emergency Stop button and restarting the
robot.The Emergency Stop button is only used in critical conditions, to stop the robot during normal
operations please use the Stop button on the system controller.
Once the risk assessment has been conducted, if an Emergency Stop button needs to be installed then
the selected device must comply with the requirements of ISO-60204-1.
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1.9 Joint Rotation without Drive Power
1. When the Emergency Stop Button is triggered during the operation of the robot, the control system
will stop its movement and cease supplying sufficient power to its joint actuators to achieve an effect
equivalent to disconnecting the power for actuation to the robot. In this case, the brake at each joint
automatically locks the joint to prevent each joint of the robot from drooping continuously under gravity.
If the robot needs to be moved to clear the fault condition, press and hold the FREE button on the end
module of the robot. Two seconds later, the braking device at the joint will disengage the brakes.
Before releasing the FREE button, the user can move the machine by pushing the joint to clear the
fault condition.
2. If the robot needs to be moved when the power is disconnected (e.g. disengaging packaging posture),
the user can first press the Emergency Stop button while there is no power, then press the Power
Button on the controller to supply power to the system. When the control system is turned on, the light
blue indicator light on the end module will blink. At this time, press the FREE button on the end
module to release the braking device at the joint. The user can move the joint by pushing it.
When an emergency button is pressed, the robot system issues a command to stop
the robot, and stops supplying sufficient power to its joint actuators for an effect
equivalent to disconnecting the power for the actuation of the robot. In this case, the
braking device at each joint automatically locks the joint. However, before the brake
completely stops the robot, the robotic link will, under the force of gravity, make the
unpowered joint slightly droop in the direction of gravity. In this case, be aware of the
possibility that the robot end module may pinch the body or collide with the
surroundings.
When overriding the brake during the movement without drive power, note that the
robot limb will droop back down due to the gravity when the FREE button is pressed
for 2 seconds. Be sure to grab the end module securely and prepare for the added
weight when you press the FREE button to unlock the brake. Lift the end module
upwards to avoid increasing the severity of injury if someone is caught under the
machine. If the end module can't be held securely or you lack sufficient strength to
prevent the robot arm from lowering, release the FREE button immediately. Each joint
of the robot will be locked again to avoid personal injury or machine damage.
Warning
Danger
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2. Safety Functions and Interface
2.1 Overview
The control system of the Techman Robot features a series of built-in safety-related functions, and
provides an interface for connecting with external safety devices.
For human-machine collaborative tasks, the user or system integrator must configure the
safety-related parameters based on the results of the risk assessment. For tasks during which
human and machine are separated, evaluate the selection and configuration of external
protection equipment. Failure to do so may result in personal injuries or death.
For instructions on how to configure the safety-related parameters in the UI, refer to Section 2.5.
For instructions on how to connect external safety devices to the system, refer to Chapter 5.
Note:
1. The user or system integrator should configure the safety-related parameters based on the
results of the risk assessment.
2. If any of the safety-related functions is triggered, protection stop is activated. Stop time is
provided in Appendix A and this time should be considered as part of the task risk assessment.
The Techman Robot System limits physical values such as offset, speed, force, or even
momentum and power, for the robot arm, tool end, and each movable axis. These are monitored
and protected by dozens of safety-related protection functions through the real-time system. The
figure below lists each protective function.
Location Speed/Momentum Force/Power
Robot
N.A Maximum robot
momentum
Maximum robot power
Tool end N.A Maximum speed
of tool end
Force Applied to
Tool Endpoint
Axis 1 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Axis 2 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Axis 3 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Axis 4 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Axis 5 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Axis 6 Minimum/Maximum
axis position
Maximum axis speed Maximum axis torque
Danger
Limit type
Limit condition
Personnel limit
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The "Force Applied to Tool Endpoint" is the external force which is applied at the center
point of the tool, and estimated by models. It is not the protection value for the force
externally applied by the robot system to the center point of the tool. When the external
force applied to the center point of the tool estimated by the robot system exceeds this
setting value, the event "Exceed Limit of Force Applied to Tool Endpoint" is triggered. At
this time, the robot performs Category 2 Stop and starts deceleration. The robot may still
apply force externally until it comes to a complete stop. Thus, it should be understood that
the force externally applied by the robot during the period from this time to a complete stop
will exceed this setting value. This setting must not be mistakenly used as a basis to
assess the force of collision between human and machine.
2.2 Safe Stop Time
The safe stop time is defined as the period from the moment when the Emergency Stop button is
pressed or any safety-related function is triggered to the moment when the robot comes to a complete
stop. In this system, pressing the Emergency Stop Button is a Category 1 Stop, while triggering built-in
safety-related functions or externally connected safety-related equipment is a Category 2 Stop. In certain
cases, the user or system integrator must include this time in the risk assessment, because the robot
may operate at a certain speed during this period, allowing transfer of energy, which may cause personal
injury or equipment damage, please refer to Appendix A for the actual stopping distance.
Both (A) and (B) are actuated during a Cat.
1 stop by the system; only (A) actuates during a Cat. 2 stop.
(A)
Joint speed
Maximum Joint speed
≦610ms
≦800ms
Trigger of safety alarm
Motor driving
current
≦
20A
3A
(B)
Warning
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2.3 Safety-related Limiting Mechanisms
All safety-related functions described in Section 2.1 are monitored and controlled by a dedicated safety
thread (with a cycle of 10ms) at system level, which provides a trigger signal to another dedicated motion
thread (with a cycle of 1ms) to make related responses. In this dedicated safety thread, all physical
quantities used for calculation of the required information about each robot axis (angle, angular velocity,
torque, etc.) are also updated every 1ms. When any safety related function is triggered, every axis of the
robot will stop within 800ms under a Category 2 Stop. When the Emergency Stop button is pressed, the
robot will stop movement within 610ms and the system will lower the upper limit of the total drive current
from 20 A to 3 A to activate a Category 1 Stop. In addition, when system hardware is operating beyond
limits (such as too high joint drive current, overheating motor, unstable power supply, or disconnection of
the system communications), a Category 2 Stop is triggered. When a Category 1 Stop or Category 2
Stop is triggered, the Indication Light Ring on the end of the robot will change to a solid red light and the
system will signal a long beep. When this happens, restart the system according to standard procedure,
or contact the distributor for servicing.
Operating on the periphery of the non-working area of the Techman robot or if the range of
motion passes through the non-working area (Jacobian matrix is unstable near singularities)
may also cause the end tool output force to incorrectly trigger safety conditions even at low
speeds. Please set the task requirements of the robot inside its working space to ensure the
correct operation of the safety protection.
2.4 Singularity/Singular Point
Robot arm do not move through whole space always, it has a number of safety-related issues. Kinematic
singularities play a significant role in the motion control of robot arm. Singularity can be defined as a
position in the robot workspace where two or more joints no longer independently control the position
and orientation of the tool. Namely, for a general 6-axis manipulator, this means that singularity is a point
where the robot loses its ability to move the tool center point in some orientations. The error code are
0x09、0X14.
TM robots with 6 degrees of freedom have three clarifications in singularity:
Inner singularity
Extended singularity
Wrist axis singularity
Warning
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Inner singularity :
In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of
cylindrical radius , is distance between center of J1 and J6. Once robot arm close the inner singularity,
robot arm will stop and sent out a warning.
The doffset is 122.3 mm.
Joint coordinate system and d
offset
definition.
Extended singularity:
In the outer singularity, the wrist root point is located at the limit of its work envelope. Namely, J3 is
almost in zero degree. Robot arm stop and send out a warning when end-effector beyond working
space.
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The workspace explanation when J3 is almost in zero degree.
Wrist axis singularity:
In the wrist singularity position, the J4 and J6 line up each other. In this case, these joints will try and spin
180 degrees instantaneously. There is an infinite number of possible for J4 and J6 with identical axis
angle. Once situation mentioned occur, robot arm will stop and send out a warning.
There is an infinite number of solution space when axes J4 and J6 with identical axis angle.
Maximum working space
Extended singularity space
Parallel
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When encountered singularity：
When the robot reports the error code 0x09 or 0x14, it may be caused by singularity, please confirm
robot pose. If robot trajectory passes through inner Cylinders like picture as below, please refer to the
first point as below. If J4 and J6 with identical axis angle, please refer to the second point as below.
1. While robot arm send out a warning because of inner singularity, user can press the FREE bottom to
get rid of warning. Please reconsider the position of the points or change the trajectory between the
points. Please avoid the robot trajectory between the points cross the inner singularity.
When robot trajectory passes through inner singularity, it will send out a warning.
2. While robot arm send out a warning because of wrist axis singularity, user can press the FREE button
to get rid of warning. Try to move the robot along z-axis in tool base when J4 and J6 with identical axis
angle will cause wrist axis singularity. The picture below shows an example to prevent wrist axis
singularity.
An example to prevent wrist axis singularity
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2.5 Safety setting
Safety setting of TM Robot is divided to Safety Stop Criteria, Safety IO Setting and Collaboration mode.
Safety Stop Criteria: User can modify the maximum allowable values of robot momentum, power
consumption, TCP speed, TCP force, joint position, joint speed and joint torque in Safety Stop page.
Min./ Max. Setting of each Item：
Below are the maximum values of each item setting. If user set the value which exceed the max. value,
then the setting cannot be saved and a warning would be signaled.
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Min/Max Joint Position Setting:
If you set the Min/Max position of first joint with 270˚ and -270˚, then the angle range in 270˚~ 271˚and
-270˚~ -271˚ will become reducing range as the blue area showed in the picture. When the first joint
move into this range the basic moving speed of the robot will be switched to 250mm/sec for path motion
and 5% for PTP motion, to forming an angle buffer region to prevent possible overshoot to the joint limit.
At the same time, the angle range in 271˚~ 274˚and -271˚~ -274˚ is the 2nd buffer range for joint limit as
the red area in the picture. When the joint angle arrives this area robot will stop moving. User can only
operate the robot by press free robot button until robot leaves this area.
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Safety IO Setting : Safety IO Setting (Please refer to description in 5.3.1) compose two modes: Pause
and collaboration mode. User can choose either pause or collaboration mode in safety IO setting.
Pause: Setting the configuration of the safety IO of TM Robot with risk evaluation, user can choose
either “manual reset” or “automatic reset” to manually restart or automatically restart the project when the
project is previously paused by safety IO triggered.
Collaboration mode: Setting the configuration of the safety IO of TM Robot with risk evaluation, user
can utilize the collaboration mode to switch the project from full speed mode to collaboration mode, when
safety IO triggered.
Collaboration Mode setting: Parameter configuration for TM Robot’s collaborative mode can be divided
into two parts. One is hazard configuration and the other is limit configuration. (Please refer to
description in 2.8.1).
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2.5.1 Operating Position
Except for Hand Guide Mode, for correct operating positions, the user should stay outside of the
motion range of the robot to perform operations. At least one emergency switch is installed
outside of the motion range of the robot. When no motion limit is set for the robot, the motion
range of the robot is equal to the maximum motion range of the robot arm (refer to Section 4.2.1).
When the user sets a limit for the TM Robot, he/she can avoid the situation whereby all
operations have to be out of the maximum motion range of the robot arm.
The robot stick should be placed in an area that the robot cannot reach. The user should also
make sure that the movement of the robot will not be within any area where personnel will enter
to press any buttons on the robot stick.
2.5.2 Operating Position of TM Robot with AGV
When TM Robot is placed on the AGV and whilst it is in operation, user should pause the TM
Robot and the TM Robot itself should not exceed the range of AGV space.
Top view of TM Robot placed on the AGV
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2.6 Operating Mode
TM Robot comes with two operating modes: Manual Mode and Auto Mode. Current mode can be
determined visually via the mode indicator (see Section 4.2.3.1) on the Robot Stick, and the color of the
Indication Light Ring on the robot's end module (see Section 4.2.2.4). The robot starts in Auto Mode.
2.6.1 Auto Mode
When the robot is in Auto Mode the Indication Light Ring on the end module is blue and the mode
indicator on the Robot Stick is in the Auto position. Under auto mode, pressing the Play/Pause
buttons on the Robot Stick runs or pauses the project. Robot speed is determined by the project
speed. The FREE button of the end module does not work under Auto Mode so there is no
guiding by hand.
2.6.2 Manual Mode
When the robot is in Manual Mode the Indication Light Ring on the end module is green and the
mode indicator on the Robot Stick is in the Manual position. Manual Mode can be further broken
down into Manual Control mode and Manual Trial Run Mode. The user can tell the difference
using the status of the green Indication Light Ring on the end module as well. Constant green
light indicates Manual Control mode while flashing green light indicates Manual Trial Run Mode.
2.6.2.1 Manual Control Mode
In Manual Mode, if the robot is not moving then it is in Manual Control mode. Press the FREE
button on the end module to guide the robot by hand or use the controller page to jog the
robot. When the robot is in Manual Control Mode, all robot motion will be limited to less than
250mm/sec. If the robot speed exceeds 250mm/sec then it will stop on an error.
2.6.2.2 Manual Trial Run Mode
When the user is in the HMI's project editing page, pressing the Play/Pause button on the
Robot Stick enters Manual Trial Run Mode. The 250mm/sec speed limit does not apply
while editing projects in Manual Trial Run Mode but the project run speed will be reduced to
10% during each trial run. The add/subtract buttons on the Robot Stick can be used to adjust
the project run speed in Manual Trial Run Mode. Each button press increases or decreases
project run speed by 5%. This is used to adjust the project run speed.
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2.6.3 Changing the Operating Mode
To change the operating mode of the robot, please use the Mode Switch Button on the robot
control to cycle between Auto/Manual mode. The system cannot be changed from Auto to
Manual mode while the robot is running a project in Auto mode. The robot must be stopped by
pressing the Stop Button on the Robot Stick before it can be switched to Manual mode. When the
robot is switched from Manual Trial Run Mode to Auto mode by pressing the Mode Switch
Button, the project run speed will be set to the default project running speed. In other words, the
run speed in Auto mode for this project will now be fixed unless it is changed by another trial run.
2.7 Hold to Run
TM Robot can not only record points through hand guide instruction but also use TM Flow to move the
coordinates of each coordinate system. These include: moving the joint angle, moving the end module
through the robot coordinate system, moving the end module through the tool coordinate system, moving
the end module through a custom coordinate system, moving to the vision initialization position, visual
servo operations, execute step run function, and move to point. In all of the above functions, a hold to run
design was adopted by TM Robot for enhanced safety. There are two types of hold to run in the TM
Robot system. For operations with a higher level risk, the Robot Stick should be used to carry out
different types of hold to run functions. Type 1 is holding down the add/subtract buttons on the Robot
Stick to keep the robot moving. Type 2 is holding down the software buttons on the HMI to keep the robot
moving. Both move the robot while the button is held down and stops immediately when the physical or
virtual button is released. The robot will resume running if the button is held down again. Some of the
functions can be used by both types of hold to run functions so the user can choose one of the Types to
operate. However, if you are using the software hold to run button from a HMI connected to the robot via
TCP/IP or Wi-Fi, if the network is disconnected then the TM Robot system will automatically disengage
the robot and make it stop. In this situation however, it may take up to 0.7 second for a disconnection to
be detected under different network environments. This means that even if you release the software
button the robot may continue to execute the original command. If the physical button on the Robot Stick
is used for hold to run, the system's detection time for button release is 30 ms. For operations with a
higher level risk, the Robot Stick should therefore be used with all hold to run operations.
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2.8 Collaborative Mode and Safety Zone Setup
TM Robot can run in standard mode or collaborative mode. In collaborative mode, the robot will run at a
slower speed and use a lower torque based on the user settings. The robot status light will add purple
light display to let the user know whether the robot is in collaborative mode. Please refer to the table in
Section 4.2.2.4 for complete light information.
Please note that the functions described in this chapter are only intended to speed up the
configuration of collaborative safety parameters and settings by
the user. It is still up to the user
to conduct a full risk assessment based on the robot's operating environment and conditions
before use. TM Robot explicitly states that serious residual risk may exist in the following
scenarios: Improper configuration of safety space or running incorrect project may lead to the
risk of the robot colliding with the human body at full speed.
When the TM Flow Compliance function is used within the safety zone, the robot will run the
Compliance function at the set force since it is not controlled by collaborative mode. Please
complete a thorough risk assessment and set an appropriate level of force before using the
Compliance function in collaborative mode.
2.8.1 Collaborative Mode and Parameter Configuration
Parameter configuration for TM Robot’s collaborative mode can be divided into two parts. One is
hazard configuration and the other is limit configuration. The hazard configuration page is as
shown below.
Danger
Danger
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For hazard configuration, user can define the locations with risk of robot contact with the human
body within the collaborative space. The robot’s operating speed in collaborative mode and other
data will be shown on the right side of the interface. The settings can be saved once they are
confirmed by the user. The data include the automatic pathing speed and automatic
point-to-point movement speed, when entering the collaborative zone and the surface area of
tools that may come into contact with the human body. User should tick the confirmation box in
the lower right corner before saving the settings to confirm the surface area of any potential
contact between tools mounted on the robot and the human body will be larger than or equal
to the surface area being confirmed.
In this function, the robot speed is calculated according to the durable force and pressure on
medical reports which conform to ISO/TS15066. In addition to the body parts showed in the
figure, other vulnerable body parts such as spine, hindbrain and etc., should be taking into
consideration for risk assessment to avoid any possible of collision with TM robot.
Please note that while the values for some calculated data can be modified by the user, only
smaller values can be used. If more detailed parameters must be configured by the user,
they can be modified from the “Additional Limit Configuration Page” as shown below.
In this configuration page for collaborative mode, the user can set servo speed, and servo torque.
Please note that these settings must be smaller than the settings of standard mode. Settings can
be saved once they have been confirmed by the user.
Dang
er
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2.8.2 Collaborative Space Configuration for Safety
TM Robot offers two ways of configuring the safety space attributes: Planar and Cubic. If the
robot enters the safety space during operation, it will switch to collaborative mode. Planar
attributes allow the user to set either safety plane or stop plane. Cubic can only be used to define
safety spaces.
Except for defining the safety space setting as all safety space setting as all safety space, the
TM Robot safety space cannot be utilized as a safety device solely. User must conduct a full
risk assessment based on the robot’s operating environment and conditions before use. User
can utilize the qualified safety light curtain, safety laser scanner or other safety devices
accompanied with the instructions in section 2.5 & 5.3.1 about the pause or collaboration
actions triggered by external device via safety IO for correct setup. Other proper design or
setup of safety working environment can also be conducted to prevent people from entering
the full speed area. Please note that the functions described in this chapter are only intended
to provide user a clear view of the safety space setting in 3D space during teaching mode and
programming. Also, the safety planes and spaces setup for collaboration are only intended to
assist user recognizing the setup of collaboration area and full speed area. The safety planes
and spaces cannot be utilized as a safety function to switch between collaboration mode and
full speed mode solely. When applying the stop planes and spaces in teaching mode, points
and motion in forbidden area are not allowed. The stop planes and spaces cannot be utilized
as a safety function to constrain the robots work space solely. TM Robot explicitly states that
serious residual risk may exist in the following scenarios: Improper configuration of safety
space or running incorrect project may lead to the risk of the robot colliding with the human
body at full speed.
Safety Space Configuration Tab:
Click on the safety space to enter this safety space setting page in robot setting page.
The left side of this page is used for collaborative space configuration. The 3D simulator is in the
middle and the controller interface is on the right side.
Danger
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The collaborative space configuration functions are as shown below.
Add Plane
Delete Selected
Attribute
Add Cube Reset Attributes
Set Start Reduce
Distance
Reverse Stop Space
Switch to Safety Plane
Switch to Stop Plane
Previously defined attributes will be shown in the list. When the user selects a listed attribute, the
3D simulator in the middle will display the selected attribute in a transparent blue color. The user
can then delete or reset the selected attribute. The window for setting start reduce distance will
appear after the Start Reduce Distance setting button pressed, and the user can set the distance
for the collaboration area and stop space separately. The robot will start to reduce the motion
speed when moving in the start reduce zone, but the status of the indication light ring would not
be change.
Add/Edit Plane Tab:
Delete
Set Point
Plane chareacters
Safety Plane
Safety Plane
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Press the Add Plane button or select a planar attribute then click on the Reset Attribute button to
enter the Add/Edit Plane page. In this page, the user can use TCP to define 3 points and create a
plane. The 3 points can be defined in any order and corresponding colored spheres will appear in
the 3D simulator. Once all 3 points have been set, then a transparent blue virtual plane will
appear. Now, click on the Confirm button to create the plane. Please note that the virtual plane
will not appear if there are common points or the points are collinear. In this case clicking on
Confirm will not create a plane.
The button functions are as shown below.
Add/Edit Cube Tab
Set the first point
Set the second point
Set the third point
Confirm plane creation Cancel plane creation
OK Cancel
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Press the Add Cube button or select a cubic attribute then click on the Reset Attribute button to
enter the Add/Edit Cube page. In this page, the user can use TCP to define 4 points and create a
cube. The 4 points can be defined in any order and corresponding colored spheres will appear in
the 3D simulator, but it should follow the indicated rules. Once all 4 points have been set then a
transparent blue virtual cube will appear. Now click on the Confirm button to create the cube.
Please note that the virtual cube will not appear if there are common points or the points are
collinear. In this case clicking on Confirm will not create a cube.
The button functions are as shown below.
The safety space setting is achieved by complex algorithms. Under specific settings, the
setting result may not be as expected. User is responsible for assuring the result shown in 3D
figure is correct. Improper configuration of safety space or running incorrect project may lead
to the risk of the robot colliding with the human body at full speed.
When finishing the safety space setting, user can access the safety space setting through the collapsible on the right
side of the project page.
Set the first point
Set the second point
Set the third point
Set the fourth point
Confirm cube creation Cancel cube creation
OK Cancel
Danger
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Intelligent Slowdown function can force the robot to slow down before exiting the full speed area to collaboration area.
The motion of TM ROBOT when applying Intelligent Slowdown is in accordance with the position of the start point and
the end point and the type of motion setting.
The Intelligent Slowdown function will be activated if the position of the TCP start point is in the
full speed area and the TCP end point is in the collaboration area. As a result, the Intelligent
Slowdown function will not be activated if the start point and the end point are both located in
the full speed area, even though the motion path passes through the collaboration area.
Please access the safety setting via the collapsible on the right side of the project page. When
preview button is pressed, the 3D simulator will show the bound safety space with the chosen
safety setting and binding base. Edit function allows the user to modify the safety space shown in
3D simulator. User should be responsible for his own safety and assure the result shown in 3D
figure is correct. For safety space not shown as expected, please delete the latest safety plane
and reset the safety space via edit function.
The generated safety space is displayed on the 3D simulator.
Remove/add/edit planes to modify the safety space shown in 3D
simulator.simulator.
Save the safety space shown in 3D simulator.
Danger
Preview
Edit
Save
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Click on the preview button. If the safety space needs to be modified, then click on the Edit button
below Step 2 and modify it in the setting page.
If the modification is complete, click on the Save button at the top to save and leave this page.
If you do not need to modify, you can click on the X button at the top right corner and return to the
settings page without save.
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3. Transportation
Transport the Techman Robot using its original packing materials. If you will need to transport the
Techman Robot after unpacking, store the packing materials in a dry place. Hold both arms of the
Techman Robot during transportation. Support the arms before tightening the base screws.
Transport the control box by its handles. Store the cables before transportation.
Pay attention to your posture when moving the arm and control box cartons to avoid back
injury. Techman Robot will not be liable for any injuries cased during transportation.
Warning
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4. System Hardware
4.1 Overview
This chapter introduces the mechanical interface of the Techman Robot System.
4.2 System Overview
Techman Robot is made up of the robot arm and control box (including a robot stick).
Control Box
Robot Stick
Robot arm
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4.2.1 Robot Arm
4.2.1.1 Robot Range of Motion
Techman Robot's working range is a spherical space with a 700mm radius at the base (for
TM5-900, it is a 900mm radius). Due to the limitations of configuration, try to avoid moving the
center of the tool to the cylindrical space below and above the base.
TM5-700 Series Movement Range Diagram
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Operator Position
Warning: Risk of crushing
within the operating area of
the arm.
Warning: Risk of collision
within the operating area of
the arm.
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TM5-900 Series Movement Range Diagram
Operator Position
Warning: Risk of crushing
within the operating area of
the arm.
Warning: Risk of collision within
the operating area of the arm.
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4.2.1.2 Robot Arm Maximum Allowed Payload
The maximum allowed payload of the robot arm is related to its center of gravity offset, which
is defined as the distance from the center point of tool flange to the payload’s center of
gravity.
The following figure shows the relationship between payload and the center of gravity offset:
TM5-700/ TM5X-700/ TM5M-700
TM5-900/ TM5X
-
900/ TM5M
-
900
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4.2.1.3 Robot Arm Installation
The TM5 is secured by four holes with a diameter of 11mm on the base and four M10 screws.
A tightening torque of 35Nm (can be adjusted based on the strength of the bolts used) is
recommended. If your application requires more precision, you can use two positioning pins
with a diameter of 6mm for a more secure mounting.
1. The Techman Robot must be securely and tightly screwed down before use. The mounting
surface should have sufficient strength.
2. Do not immerse the Techman Robot in water. Installation in the water or a humid
environment may lead to damage.
Danger
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4.2.2 Robot End Module
4.2.2.1 End Module Components
TM5/ TM5M Series End Module Components
GRIPPER button
Camera module
Flange (ISO 9409-1-50-4-M6)
Digital I/O
Indication Light
Analog I/O
FREE
button
VISION
button
POINT
button
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TM5X Series End Module Components
GRIPPER button
Flange (ISO 9409-1-50-4-M6)
POINT button
Digital I/O
Indication Light
Analog I/O
FREE button
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Camera
Digital l/O
Analog l/O
4.2.3 End Flange Surface
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4.2.4 End Mounting Caution
The TM5 uses four M6 threaded holes on the end flange and four M6 screws for mounting tools.
A tightening torque of 9Nm is recommended. If your application requires higher precision, you
can use two positioning pins with a diameter of 6mm for a more secure mounting。
4.2.4.1 End Indication Light Ring Table
The Indication Light Ring of the TM Robot has several colors which represent different modes
and error statuses. Look up the following table which contains troubleshooting methods:
Color/blinking Description Troubleshooting
Solid green light
Standby status in Manual
Mode
(Manual Control mode)
N/A
Flashing green light
Project running in Manual
Mode
(Trial Run mode)
N/A
Short Flashing Green light
Project paused in Manual
Mode.
N/A
Alternating between Green/Red light
(with buzzer 2 beeping)
Manual Mode Error
Press the FREE button to
troubleshoot the error.
Solid blue light
Standby status in Auto
Mode
N/A
Flashing blue light
Project running in Auto
Mode
N/A
Short Flashing Blue light
Project paused in Auto
Mode
N/A
Alternating between Blue/Red light
(with buzzer 2 beeping)
Auto Mode Error
After switching to Manual Mode,
press the FREE button to
troubleshoot.
Light blue light Safe Startup Mode
Release the Emergency button
to return to the original mode.
Flashing red light Robot is initializing. N/A
Flashing red light (with buzzer 1
beeping)
Emergency stop pressed
Release the Emergency button
to return to the original mode.
Solid red light Buzzer emits a long beep Fatal error Shutdown and Restart required
Tools must be appropriately and securely tightened when using this product. Improper
tightening may cause the tool or part to fall out, or even cause personal injury and death.
Danger
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When the user sets the safety space and the robot moves into the safety space, the robot will
enter the collaborative mode. At this time, the purple light will be added. Please refer to the
following table for the definition of each status:
Mode Standby/running Space Color/blinking
Manual Mode
Standby status
Full speed Space Solid green light
Collaboration Space
Alternating between
Green(9)/ Purple(1)
Stop Space
Alternating between
Green/ Red
Project running
Full speed Space Flash green light
Collaboration Space
Alternating between
Purple/ Red
Stop Space
Alternating between
Green/ Red
Auto Mode
Standby status
Full speed Space Solid blue light
Collaboration Space
Alternating between
Blue(9)/ Purple(1)
Stop Space
Alternating between
Blue/ Red
Project running
Full speed Space Flash blue light
Collaboration Space
Alternating between
Purple/ Red
Stop Space
Alternating between
Blue/ Red
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4.2.5 Control Box
The control box can be placed on the floor or on a rack. Note that 5cm clearance should be
left at both sides for air flow.
4.2.5.1 Robot Stick
The Robot Sticks has 6 function buttons, 3 indicator lights, 1 emergency button, and 1
QR-code. There functions are as follow:
When operating the robot stick, please do not use other objects than fingers to press the
control panel.
Note
Note
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Some of the function buttons offer the following advanced functions:
Item Basic Function
Emergency
Button
Default emergency button for the robot
Power Button Bootup (single press)/ Shutdown (long press)
Mode Switch
Button
Cycle Manual/Auto Mode (single press). See Section 2.6 for details.
Play/Pause button Play/Pause Project (press once)
Stop button Stop Project (press once)
Add/Subtract
button
Adjust project speed (press once) under Manual Trial Run Mode. See
Section 2.6 for details.
Power Indicator Shows the robot's power status.
Not on: Switched off
Flashing: Booting
Constant:Startup completed
Mode Indicator
Lights
The two lights are Manual and Auto. They show the robot's current
operating mode. Once bootup is complete only one will always be on.
QR Code Label Shows the SSID of the robot's own software AP. The content of the SSID is
also the robot's name in TCP/IP network.
Item Advanced Function
Emergency
Button
Hold down before bootup to enter Safe Startup Mode.
Play/Pause button Play/pause visual calibration operation (press once)
Stop button Stop visual calibration operation (press once)
Add/Subtract
button
- Hold to jog the robot at the HMI robot controller page (Hold to Run).See
Section 2.7 details.
- Lock/ Unlock: hold down both add and subtract until the mode indicator
flashes, then follow the sequence "Subtract Add Subtract Subtract Add"
when pressing the add/subtract buttons to lock/unlock the Robot Stick
(except the Power button)
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The robot stick is magnetic so that it can be attached to magnetic surfaces. However, the risk of
falling or rotating caused by poor attachment should be taken into account. It is recommended
using the official Robot Stick Stand (official accessasory) to secure the robot stick. In that case,
the Robot Stick Stand should be fixed with screws. Do not freely place the robot stick when it is
not fixed. The robot stick should be placed in a way that the signal cables are routed properly to
avoid damage caused by pulling.
1. The control box, cables, power signal cables, and robot stick cannot be used when any of
them is in contact with liquids. This may result in personal injury or death.
2.
The control box has an IP20 rating so that it cannot be used in environments with powder and
moisture. Particular attention should be paid to environments with conductive dust (such as
metal swarf).
Note
Danger
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5. Electrical Interface
5.1 Overview
This chapter introduces all electrical interfaces of the robot arm and control box.
5.2 Electrical Warnings and Cautions
The application design and installation of the robot should comply with the warnings and cautions below.
The I/O cables used for the link between the control box and other equipment should not be
longer than 30 meters, unless testing shows that longer cables are feasible.
1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect
the power and contact your supplier.
2. Only use the original cables included with the robot. If you need longer cables, contact your
supplier.
3. Ensure the robot is properly grounded. If the grounding is not correct, it may cause a fire or
electric shock.
Danger
Warning
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5.3 Control Box
Except for USB ports, other interfaces have to be installed while arm is shutdown. Do not
install while arm is on to avoid abnormal shutdown.
5.3.1 Safety Connector
Provides expansion ports for Emergency Stop(ESTOP) & Safety Stop.
A) ESTOP is a N.C. contact (Normally closed). When ESTOP SW is OPEN,the robot arm enters
the Emergency STOP state.
B) Safety A&B is a N.C. contact (Normally closed). When Safety SW is OPEN,the robot arm
enters the Pause state.
Warning
Front control box configuration
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The factory safety settings are shown below. Operations can be performed without addition of
safety devices, as shown below.
Application settings of the arm safety device
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5.3.2 Power Connector
A) During boot, the control box will check for an external 24V input. If none is available then it
will switch to the internal 24V supply.
B) The control box itself offers a 24V1.5A output (24_EX). If the 24V load exceeds 1.5A, it
enters Safe Mode and disables the 24V output.
C) EX24V provides an external 24V input port. If the load exceeds 1.5A an external power
supply can be used instead. The load on EX24V must not exceed 3.5A.
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5.3.3 Digital In/Out
Digital In/Out have 16 Channel each, it should be connected as follows:
A) Digital Input: If sensors are connected directly then they should be of the NPN type.
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A) Digital Output: The maximum drive current is 100mA per channel. If the load exceeds 100mA,
a relay should be used to drive it.
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5.3.4 Analog In
Analog In only supports voltage mode and detection range of -10.00 V ~ +10.00 V.
5.3.5 Analog Out
Analog Out only supports voltage mode and detection range of -10.00 V ~ +10.00 V.
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5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion
Robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug
the connector while robot is on.
5.3.7 USB Port
The USB port of the control box is used for connecting the keyboard, mouse and external storage
devices. External storage devices should only be used for the import/export functions of TM Flow.
No USB devices other than those listed above should be connected.
The large differences in the specifications of external storage devices on the market
may interfere with high-speed vision transmission while the robot is in operation so do
not use your own external storage devices while the robot is running. TM Robot's vision
image storage function is a value-added function that can only be used with the
dedicated SSD kit sold through the TM Robot website. Interested buyers should contact
the TM Robot website.
Warning
Note
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5.4 Tool End I/O Interface
There are two small connectors on the tool end of the robot: a 8-pin connector and a 5-pin connector.
5.4.1 I/O Terminals
The tool end 24V has a maximum output current 1.5A. If overloading, overload protection is
activated and the robot will turn off the 24V output power.
8-pin digital I/O connector of Cable
8-pin digital I/O connector of Robot
Pin Wire color Pin define
1 Brown +24v 24V output
2 Red DI_0 Digital Input0
3 Orange DI_1 Digital Input1
4 Yellow DI_2 Digital Input2
5 Green DO_0 Digital Output0
6 Blue DO_1 Digital Output1
7 Purple DO_2 Digital Output2
8 Black +0V +0v
Pin Wire Color Pin Define
1 Brown +24v 24V output
2 Red DI_0 Digital intput0
3 Orange DI_1 Digital intput1
4 Yellow DI_2 Digital intput2
5 Green DO_0 Digital outtput0
6 Blue DO_1 Digital outtput1
7 Purple DO_2 Digital outtput2
8 Black +0V +0V
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5-pin analog I/O connector of Cable
5-pin analog I/O connector of Robot
Pin Wire Color Pin Define
1 Black AI Analog Input
2 Brown RSV Reserve
3 Red RSV Reserve
4 Orange GND GND
5 Yellow GND GND
Pin Wire Color Pin Define
1 Black AI Analog Input
2 Brown RSV Reserve
3 Red RSV Reserve
4 Orange GND GND
5 Yellow GND GND
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5.4.2 Connecting Tool End Digital Out
The following figure shows how to connect the tool end digital output:
5.4.3 Connecting Tool End Digital In
The following figure shows how to connect the tool end digital input:
A) If sensors are connected directly then they should be of the NPN type.
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5.4.4 Connecting Tool End Analog In
The following figure shows how to connect the tool end Analog input:
5.5 Control Box Interfaces
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The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper
connection may cause stopping of the robot.
TM5/ TM5X Series
TM5M Series
Note
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5.6 Control Box Power Interface and Robot Interface
5.6.1 Control Box Power Interface
TM5/ TM5X Series: The power cable of the control box has an IEC plug. The local power plug is
connected to the IEC plug.
TM5M Series: The power cable of the control box has Hirose (HRS) DF60 series connector.
TM5/ TM5X Series TM5M Series
Black：24V DC-in Connector
(HRS) DF60-3EP-10.16C
Grey：48V DC-in Connector
(HRS) DF60R-3EP-10.16C
The power supply should be equipped with the following devices:
• Grounding
• Main fuse
• Residual current device (RCD)
It is recommended to install a main switch on the equipment power supply for robot applications
for servicing and inspection purpose.
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TM5/ TM5X Series: The table below shows the electrical specifications:
TM5M Series electrical specifications as below:
Parameters Minimum value Typical value Maximum value
Unit
Input voltage 100 - 240 VAC
External mains fuse
(100V~120V)
- - 15 A
External mains fuse
(200V~240V)
- - 8 A
Input frequency 43 - 63 Hz
Parameters
24V
Minimum
value
Typical
value
Maximum
value
Unit
Input
voltage
20 - 32 V (DC)
Power
consumption
- 1000 W
Parameters
48V
Minimum
value
Typical
value
Maximum
value
Unit
Input
voltage
36 - 60 V (DC)
Power
consumption
- - 1300 W
1. Ensure that the robot is correctly grounded (electrical grounding).
2. Ensure that the input current of the control box is protected by the Residual Current
Device (RCD) and appropriate fuses.
3. Ensure that all cables are correctly connected before the control box is energized.
Always use genuine power cables correctly.
Danger
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5.6.2 Robot Interface
The following figure shows the connection interface of the robot. The cables of the robot are
connected to the control box through the interface.
1. When the robot is turned on, do not disconnect cables of the robot. When cables of
the robot are not connected to the connection interface, do not turn on the robot.
2. Do not extend or modify the original cables of the robot.
3. The cables of the robot are only suitable for fix installation. If you require a flexible
installation, please contact Techman Robot.
Warning
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6. Maintenance and Repair
Maintenance of Techman Robot: Clean the exterior of the Techman Robot periodically, and keep the
moving joints clean. The filter of the control box must be cleaned or replaced periodically (determine how
often the filter is cleaned or replaced depending on the cleanliness of surroundings).
Only the legal distributor or authorized service center should repair the Techman Robot. The user should
not repair it himself or herself.
When the robot finishes a job and enters maintenance or servicing status, the user
should record the details of each setting for the job; after repairing and installing it to
the work position, the user must make sure that each setting satisfies the original
conditions before resuming working status, including but not limited to:
- Safety Software Settings
- Safety I/O
- Preset operation project
- TCP Settings
- I/O Settings
- I/O Wiring
Danger
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7. Warranty Statement
7.1 Product Warranty
The user (customer) may make a request to his/her dealer and retailer within any reasonable situation.
The manufacturer will provide warranty under the following conditions:
During the first twelve months of the warranty period (no more than 15 months from the date of
shipment), Techman Robot will provide necessary spares for malfunctioned parts of new equipment due
to production and manufacture error or damage. If the user (customer) has to bear labor costs, a new or
refurbished part can be used for servicing. If equipment defects are caused by improper handling or
failure to comply with manual requirements, this guarantee is invalid. Warranty services do not cover
operations conducted by the dealer or user, such as arm installation, software download. Your warranty
request must be made two months before the warranty is expired. All replaced or returned items are the
property of Techman Robot. This warranty does not cover other requests directly or indirectly related to
equipment. No conditions of this warranty shall attempt to limit or exclude customer's statutory rights or
manufacturer's responsibility for personal injury or death due to negligence. The warranty cannot be
extended, even if it is the initial warranty. Techman Robot reserves the right to charge customers for
replacement or service costs, as long as no warranty terms are violated.
The above-mentioned rules shall not imply a change in the burden of proof to the detriment of the
interests of customers. When equipment becomes defective, we are not liable for compensation for any
indirect, incidental, special, or corresponding damage, including but not limited to profit loss, loss of use,
production loss or other production equipment damage.
7.2 Disclaimer
Techman Robot will continuously improve the reliability and performance of the product. Therefore, we
reserve the right to upgrade the product without prior notice. Techman Robot has verified the accuracy
and correctness of this Manual, but will not liable for any erroneous or omitted information.
Appendix 62
Appendix A. Stop Time and Distance
Stop Time and Distance Table
Axis 1 Axis 2 Axis 3
Load (kg)
Axis speed
(˚/sec)
Stop time
(ms)
Stop
distance (˚)
Stop
time
(ms)
Stop
distance (˚)
Stop
time
(ms)
Stop distance
(˚)
2
36 600.44 6.912 600 7.25 598.78 7.238
72 601.3 13.764 600.52 14.042 601.08 14.22
108 598.794 20.61 600.2 21.034 599.98 21.244
144 593.07 27.438 597.56 27.876 600.68 27.95
180 594.94 33.28 600.84 34.006 598.36 34.95
4
36 602.25 6.86 598.82 7.148 600.16 7.114
72 600.31 13.71 600.04 14.222 600.5 14.27
108 600.55 20.51 600.02 21.012 600.74 21.076
144 601.08 27.346 601.3 27.862 598.96 28.082
180 594.44 33.834 598.82 34.972 601.72 34.976
6
36 600.14 6.83 598.976 7.194 599.56 7.162
72 599.64 13.616 598.3 14.19 601.68 14.186
108 599.98 20.526 598.7 21.034 599.24 20.962
144 600.48 26.766 600.04 27.76 599.68 27.98
180 598.09 33.986 600.68 34.892 600.76 35.044
Appendix 63
Appendix B. Technical Specifications
Technical Specifications
Model
TM5-
700
TM5-
900
TM5X-
700
TM5X-
900
TM5M-
700-24
TM5M-
900-24
TM5M-
700-48
TM5M-
900-48
Weight 22kg 22.2kg 21.7kg 21.9kg
22kg 22.2kg 22kg 22.2kg
Payload 6kg 4kg 6kg 4kg 6kg 4kg 6kg 4kg
Reach 700mm 900mm 700mm 900mm 700mm 900mm 700mm 900mm
Max Speed 1.1m/s 1.4m/s 1.1m/s 1.4m/s 1.1m/s 1.4m/s 1.1m/s 1.4m/s
Joint
ranges
J1 +/- 270°
J2,J4,J5 +/- 180°
J3 +/- 155°
J6 +/- 270°
Speed
J1~J3 180°/s
J4~J6 225°/s
Repeatability +/- 0.05 mm
Degrees of
freedom
6 rotating joints
I/O ports
Control box
16
16
2
1
Tool conn.
3
3
1
0
Digital in
Digital out
Analog in
Analog out
I/O power supply 24V 2A for control box and 24V 600 mA for tool
IP classification IP54
Power consumption Max. 1300 watts
Temperature The robot can work in a temperature range of 0-50°C
Power supply 100-240 VAC, 50-60 Hz DC20V-DC32V DC36V-DC60V
I/O Interface
3×COM, 1×HDMI, 3×LAN, 4×USB2.0, 2×USB3.0, 1×VGA
Robot Vision
Eye in Hand (Built in) 1.2M/5M pixels,
color camera
N/A 1.2M/5M pixels, color camera
Eye to Hand (Optional) Support Maximum 2 GigE cameras
tm-robot.com
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