Руководство по эксплуатации Omron TM Collaborative Robot (EN)

QUICK START GUIDE Omron TM Collaborative Robot: Safety Laser Scanner Installation Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1 Page 1 of 11 Omron Automation │ ©2019 Omron. All rights reserved. │ automation.omron.com

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Table of Contents 1. INTRODUCTION ..................................................................................................................................................................... 3 2. RELATED MANUALS ............................................................................................................................................................... 3 3. HARDWARE CONNECTIONS ................................................................................................................................................... 4 3.1.

S AFETY D UAL C HANNELS ON THE TM C ONTROL B OX ............................................................................................................................ 4 3.1.1. E-Stop ............................................................................................................................................................................... 4 3.1.2. Safeguard A ..................................................................................................................................................................... 4 3.1.3.

Safeguard B...................................................................................................................................................................... 4 3.2. G9SE R ELAY P OWER AND R ESET /F EEDBACK ....................................................................................................................................... 5 3.3. OS32C L ASER S CANNER C ONNECTIONS ............................................................................................................................................. 5 4.

OS32C CONFIGURATION TOOL SOFTWARE ............................................................................................................................ 6 4.1. C ONNECTING THE S CANNER TO Y OUR L APTOP ..................................................................................................................................... 6 4.2. C ONFIGURING THE S AFETY Z ONE ...................................................................................................................................................... 8 5. APPENDIX A: CONNECTION DIAGRAMS AND PHOTOS ..........................................................................................................

10 Revision History Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1 Page 2 of 11 Omron Automation │ ©2019 Omron. All rights reserved. │ automation.omron.com Ver. Date Description 1 Jun 10, 2019 First edition (HW ver. 3.0, TMflow ver. 1.68.6800)

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2. Related Manuals

1. Introduction This manual explains how to set up an Omron OS32C safety laser scanner with any Omron TM collaborative robot via Omron G9SE-221-T05 safety relay, using the OS32C Configuration Tool software. For detailed information other aspects of using a TM robot, including but not limited to its hardware installation, TMflow software, and general safety information, please refer to their respective manuals and quick start guides. This manual covers the simplest setting, 2 zones. About Using the OS32C Safety Laser Scanner Always take into account the following points when using the OS32C:

Make sure OS32C is handled by a "Responsible Person" who is well aware of and familiar with the machine to be installed. The term "Responsible Person" used means the person qualified, authorized, and responsible to secure "safety" in each process of the design, installation, operation, maintenance services, and disposition of the machine. It is assumed that the OS32C will be used properly according to the installation environment, performance and function of the machine. A Responsible Person should conduct a risk assessment of the machine and determine the suitability of this product before installation.

Read this guide and “Safety Laser Scanner OS32C Series User’s Manual” thoroughly and understand its contents. 2. Related Manuals To ensure system safety, make sure to always read the information provided in all safety precautions and precautions for safe use of manuals for each device that is used in the system. Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1 Page 3 of 11 Omron Automation │ ©2019 Omron. All rights reserved. │ automation.omron.com Catalog No.

Model Manual Name I623-E-02 TM5-700, TM5M-700 TM5-900, TM5M-900 Collaborative Robot Hardware Installation Manual I624-E-02 TM12, TM12M TM14, TM14M Collaborative Robot Hardware Installation Manual I625-E-02 TM5-700, TM5M-700 TM5-900, TM5M-900 TM12, TM12M TM14, TM14M Collaborative Robot Safety Manual I626-E-02 TM5-700, TM5M-700 TM5-900, TM5M-900 TM12, TM12M TM14, TM14M Software Manual TMflow Z296-E1-11 OS32C Safety Laser Scanner OS32C Series User’s Manual

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2.1.3. Safeguard B

2. Hardware Connections Gather the necessary equipment as follows, along with a laptop installed with TMflow and OS32C Configuration Tool. Set up the TM robot as you normally would according to the Hardware Installation Manual. Be sure to turn the switch off at the back of the Control Box while you connect the laser scanner and relay. 2.1. Safety Dual Channels on the TM Control Box The dual channels of the E-Stop, Safeguard A, or Safeguard B connect to the relay. The relay connectors are shown in Fig. A-1 in Appendix A. 13/14 and 23/24 react instantaneously, while 37/28 and 47/48 has an off-delay.

Refer to the following sections to understand the differences between E-Stop, Safeguard A, and Safeguard B. A photo of these connectors are shown in Fig. A-2 in Appendix A. 2.1.1. E-Stop When E-Stop (Emergency Stop) is triggered (opened), • The robot will stop movement within 610 ms • The system will lower the upper limit of the total drive current from 20 to 3 A • Category 1 safety function is triggered 2.1.2. Safeguard A When Safeguard A is triggered (opened), the system goes into the Safeguard Pause state. For example, if an object crosses a safety curtain that is connected to Safeguard A, then the system will: 1. Come to a controlled stop with power still going to the machine actuators.

2. Pause the project. 2.1.3. Safeguard B When Safeguard B is triggered, the system goes into the Safeguard Collaborative mode. For example, if a person steps onto a safety mat that is connected to Safeguard B, then the system will enter a collaborative mode Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1 Page 4 of 11 Omron Automation │ ©2019 Omron. All rights reserved.

│ automation.omron.com Devices Examples Used in This Guide Omron TM Collaborative Robot TM5-900 Omron Safety Laser Scanner OS32C Omron Safety Relay G9SE-221-T05 E-Stop OR Safeguard A OR Safeguard B Connect to Top Row 1 G9SE connection 13 Top Row 2 G9SE connection 23 Bottom Row 1 G9SE connection 14 Bottom Row 2 G9SE connection 24

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