Global
| Product | TM5S | TM6S | TM7S | TM12S | TM14S | TM20S | TM25S | TM30S | |
|---|---|---|---|---|---|---|---|---|---|
| Robot Arm Weight, With Camera /
Without Camera (kg) |
23.9 / 23.6 | 35.5 / 35.2 | 22.9 / 22.6 | 33.3 / 33.0 | 33 / 32.7 | 33.3 / 33.0 | 81.6 / 81.3 | 80.6 / 80.3 | |
| Control Box Weight,
AC unit / DC unit (kg) *1 |
13.5 / 8.9 | 17.5 / 11.7 | |||||||
| Maximum Payload (kg) | 5 | 6 | 7 | 12 | 14 | 20 | 25 | 30 | |
| Reach (mm) | 900 | 1800 | 700 | 1300 | 1100 | 1300 | 1902 | 1702 | |
| Mounting | Wall, Table, Ceiling | ||||||||
| Joint
Ranges |
J1, J2, J4, J5, J6 | ± 360° | |||||||
| J3 | ± 158° | ± 166° | ± 152° | ± 162° | ± 159° | ± 162° | ± 166° | ± 170° | |
| Joint
Speed |
J1 | 210°/s | 130°/s | 210°/s | 130°/s | 130°/s | 100°/s | ||
| J2 | 95°/s | ||||||||
| J3 | 210°/s | 210°/s | 125°/s | 130°/s | |||||
| J4 | 225°/s | 160°/s | 195°/s | ||||||
| J5 | 190°/s | 210°/s | |||||||
| J6 | 450°/s | 225°/s | |||||||
| Average Speed (m/s) *2 | 1.4 | 1.1 | 1.3 | 1.1 | 2.1 | ||||
| Repeatability (mm) | ± 0.03 | ± 0.1 | ± 0.03 | ± 0.05 | |||||
| Degrees of Freedom | 6 rotating joints | ||||||||
| I/O Ports | Control Box | Digital In: 16 / Digital Out: 16 Analog In: 2 / Analog Out: 2 | |||||||
| Tool Conn. | Digital In: 3 / Digital Out: 3 | ||||||||
| I/O Power
Supply |
Control Box | 24 V 2.0 A | |||||||
| Tool Conn. | 24 V 1.5 A | ||||||||
| Ingress Protection | IP65 for Robot Arm, IP54 for Control Box *3, Robot Stick and TM Screen | ||||||||
| Cleanroom Class | ISO Cleanroom Class 3 | ||||||||
| Operating Temperature and
Humidity |
0 to 50°C, 85% max. (with no condensation) | ||||||||
| Motor Power
Supply |
AC Units | 100 to 240 VAC, 50/60 HZ | 200 to 240 VAC,
50/60 Hz |
||||||
| DC Units | 24 to 60 VDC | 48 to 60 VDC | |||||||
| I/O Interface | 2 COM, 1 HDMI, 3 LAN, 2 USB2.0, 4 USB3.0 | ||||||||
| Communication | RS-232/RS-422/RS-485, Ethernet, Modbus TCP/RTU (MainDevice & SubDevice),
EtherCAT (optional), PROFINET (optional), EtherNet/IP (optional) |
||||||||
| Programming Environment | TMFlow (flowchart-based), TMScript (script-based), TMCraft (developer-based) | ||||||||
| Certifications | TÜV-certified ISO 13849-1, ISO 10218-1, ISO/TS 15066, UL1740, CAN/CSA Z424-14 (R2019), SEMI S2 (optional) | ||||||||
| Positioning Accuracy | 2D Positioning: 0.1 mm *4 (camera models only) | ||||||||
| Robot Vision | Eye in Hand
(Built in) |
1.2MP / 5MP, color camera (camera models only) | |||||||
| Eye to Hand
(Optional) |
Supports maximum of 2 GigE 2D cameras | ||||||||
| Force x-y-z
(TM25S/30S) |
Range | ± 300 N | |||||||
| Precision | 2% full scale | ||||||||
| Accuracy | 5.5% full scale | ||||||||
| Torque x-y-z
(TM25S/30S) |
Range | ± 30 Nm | |||||||
| Precision | 0.3% full scale | ||||||||
| Accuracy | 5% full scale | ||||||||
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