OMRON TM Series Collaborative Robots
TM5 Collaborative Robots
Collaborative robot for assembly, packaging, inspection, and logistics.
- Designed to promote a safe and harmonious workplace between humans and machines.
- Easy-to-use graphical programming environment for quick startup and operation.
- Built-in vision-based robot control enables visual serving, inspection, and measurement operations.
- TMvision and Landmark allow truly flexible, fast changeover.
- Plug & Play ecosystem provides the tools and versatility for many manufacturing needs.
- Capability to integrate with mobile robots enables fully autonomous machine tending and logistics handling applications.
- Food Grade Grease* option available (supplied with food grade grease).
TM5 Ordering Information
| Type | Power Source | Integrated Camera | Reach | SEMI S2 Certified | Food Grade Grease* | Fieldbus | Cable Length | Part Number |
|---|---|---|---|---|---|---|---|---|
| TM5-700 | AC | No | 700 mm | No | No | No | 3 m | RT6-0007001 |
| TM5-700 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-0007021 | |
| TM5-700 | AC | No | 700 mm | No | No | Yes | 3 m | RT6-0007031 |
| TM5-700 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-0007041 | |
| TM5-700 | AC | No | 700 mm | No | No | No | 12 m | RT6-0007002 |
| TM5-700 | AC | Yes | Yes | Yes | Yes | 12 m | RT6-0007022 | |
| TM5-700 | DC | No | 700 mm | No | No | No | 1.5 m | RT6-0017001 |
| TM5-700 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0017021 | |
| TM5-700 | DC | No | 700 mm | No | No | Yes | 1.5 m | RT6-0017031 |
| TM5-700 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0017041 | |
| TM5-700 | DC | No | 700 mm | No | No | No | 12 m | RT6-0017002 |
| TM5-700 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-0017022 | |
| TM5-900 | AC | No | 900 mm | No | No | No | 3 m | RT6-0009001 |
| TM5-900 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-0009021 | |
| TM5-900 | AC | No | 900 mm | No | No | Yes | 3 m | RT6-0009031 |
| TM5-900 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-0009041 | |
| TM5-900 | AC | No | 900 mm | No | No | No | 12 m | RT6-0009002 |
| TM5-900 | AC | Yes | Yes | Yes | Yes | 12 m | RT6-0009022 | |
| TM5-900 | DC | No | 900 mm | No | No | No | 1.5 m | RT6-0019001 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0019021 | |
| TM5-900 | DC | No | 900 mm | No | No | Yes | 1.5 m | RT6-0019031 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0019041 | |
| TM5-900 | DC | No | 900 mm | No | No | No | 12 m | RT6-0019002 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-0019022 | |
| TM5-900 | DC | No | 900 mm | No | No | No | 1.5 m | RT6-0109001 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0109021 | |
| TM5-900 | DC | No | 900 mm | No | No | Yes | 1.5 m | RT6-0109011 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-0119001 | |
| TM5-900 | DC | No | 900 mm | No | No | No | 12 m | RT6-0119021 |
| TM5-900 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-0119011 |
* Food Grade Grease robots are not FDA certified. They are only suitable for select food-related applications, and require an evaluation and risk assessment of the use environment.
TM5 Part Number Structure
The part number structure for TM5 robots is RT6-□□□□□□□□, where each digit represents specific features:
| No. | Item | Specifications | Symbol |
|---|---|---|---|
| (1) | Techman Series | TM5 | 0 |
| (2) | Model Type | TM5 | 0 |
| (3) | Power Source | AC / DC | 0 / 1 |
| (4) | Integrated Camera | Standard / X Model (no camera) | 0 / 1 |
| (5)(6) | Arm Length | 700 mm / 900 mm | 70 / 90 |
| (7) | Option | Standard / Semi / Fieldbus / Food Grade Grease / Food Grade Grease, Fieldbus | 0 / 1 / 2 / 3 / 4 |
| (8) | Cable Length | Standard Length (1.5 m / 3 m) / Extended Length (12 m) | 1 / 2 |
*1 A 1.5 meter cable is standard for DC models and a 3 meter cable is standard for AC models.
*2 A 12 meter cable is available for all AC models except for the Food Grade Grease units.
Items Included with a TM5 Robot System
| Item | Description | Quantity |
|---|---|---|
| Robot | TM5-700 or TM5-900 | 1 |
| Cable | 3, 1.5, and 12 m options | 1 |
| Robot Stick | Hand control to move robot | 1 |
| Control Box | Robot Control Box | 1 |
| Calibration Plates | Large and small. (Not with X model robots) | 2 |
| I/O Cables | 1 m | 2 |
| Landmark | Not with X model robots | 2 |
| Ground wire | 3 m | 2 |
| Jumper Wire | 3 cm | 2 |
| Power cable | For Control Box (3 cable: B, G, F) 1.8 m | 1 |
| SEMI Switch | SEMI Emergency OFF, SEMI robots only | 1 |
| SEMI ESTOP Cable | SEMI robots only, 3 m | 1 |
TM5 Specifications
| Specification | TM5-700 | TM5X-700 | TM5-900 | TM5X-900 | |||||
|---|---|---|---|---|---|---|---|---|---|
| AC | DC | AC | DC | AC | DC | AC | DC | ||
| Product Name | TM5 Series | ||||||||
| Power Source | AC | DC | AC | DC | AC | DC | AC | DC | |
| Weight (kg) | 22.1 | 21.8 | 22.6 | 22.3 | |||||
| Controller Weight (kg) | 13.5 | 14.5 | 13.5 | 14.5 | 13.5 | 14.5 | 13.5 | 14.5 | |
| Max Payload (kg) | 6 | 4 | |||||||
| Reach (mm) | 700 | 900 | |||||||
| Mounting | Wall, Table, Ceiling | ||||||||
| Average Speed (m/s) | 1.1 | 1.4 | |||||||
| Joint Range | Joint 1 | ±270° | ±360° | ±270° | ±360° | ||||
| Joint 2, 4, 5 | ±180° | ±360° | ±180° | ±360° | |||||
| Joint 3 | ±155° | ||||||||
| Joint 6 | ±270° | ±360° | ±270° | ±360° | |||||
| Joint Speeds | Joint 1, 2, 3 | 180°/s | |||||||
| Joint 4, 5, 6 | 225°/s | ||||||||
| Repeatability (mm) | ±0.05 | ||||||||
| Ingress Protection | IP54 (robot arm), IP32 (control box), IP40 (robot stick) | ||||||||
| Cleanroom Class | ISO Class 3 | ||||||||
| Operating Temperature and Humidity | 0 to 50°C, 85% max. (with no condensation) | ||||||||
| Storage Temperature and Humidity | -20 to 60°C, 75% max. (with no condensation) | ||||||||
| Operating and Storage Environment | No corrosive gases or exposure to water-soluble cutting oil.*1 | ||||||||
| Motor Power Supply | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | |
| Robot Arm Cable Length | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | |
TM5 I/O Specifications
| Specification | TM5-700 | TM5X-700 | TM5-900 | TM5X-900 | ||||
|---|---|---|---|---|---|---|---|---|
| AC | DC | AC | DC | AC | DC | AC | DC | |
| I/O Ports (Control Box) | Digital In: 4, Digital Out: 4 Analog In: 1, Analog Out: 0 | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | ||||||
| I/O Ports (Tool) | COM: 3, HDMI: 1, LAN: 3, USB2.0: 4, USB3.0: 2 | |||||||
| I/O Interface | RS232, Ethernet (master), Modbus TCP/RTU (master & slave), PROFINET (optional), EtherNet/IP (optional) | |||||||
| I/O Power Supply | 24 VDC 2.0 A (control box) / 24 VDC 1.5 A (tool) | |||||||
| Programming Environment | TMflow, flowchart based | |||||||
| Integrated Camera Available | 5 MP, color | None | 5 MP, color | None | ||||
| SEMI S2 Certified*2 Available | No | Yes | No | Yes | No | Yes | No | Yes |
| Fieldbus Available | EtherNet/IP, PROFINET*3 | |||||||
*1 If water-soluble cutting oil is present, use a protective sleeve to prevent damage to the robot housing. OMRON offers enhanced joint covers for these applications. Contact your local OMRON representative for more information.
*2 SEMI (Semiconductor Equipment and Materials International) is the central global network of manufacturers of micro and nano electronics that issues safety guidelines. SEMI S2 is the most well-known standard in semiconductor manufacturing equipment for Environmental, Health, and Safety (EHS).
*3 A Fieldbus upgrade is available for HW3.2 robots with TMflow v1.80 or higher. Contact your local OMRON representative for more information. The Fieldbus option is not available for SEMI S2 certified robots.
TM5 Dimensions
TM5-700 Dimensions (Unit: mm)
- Robot Arm: Height 746.5 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø244.60, 6DOF Workspace Ø244.60.
- Footprint: 110 mm diameter, 4x Ø11.00 or M10x12 mounting holes, Ø155.56 pitch circle diameter, Ø177.00 outer diameter, 2x Ø6.02 ±0.01 mounting flange.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
TM5-900 Dimensions (Unit: mm)
- Robot Arm: Height 946.5 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø244.60, 6DOF Workspace Ø244.60.
- Footprint: 110 mm diameter, 4x Ø11.00 or M10x12 mounting holes, Ø155.56 pitch circle diameter, Ø177.00 outer diameter, 2x Ø6.02 ±0.01 mounting flange.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
TM12/TM14 Collaborative Robots
Collaborative robot for assembly, packaging, inspection, and logistics.
- Designed to promote a safe and harmonious workplace between humans and machines.
- Easy-to-use graphical programming environment for quick startup and operation.
- Built-in vision-based robot control enables visual serving, inspection, and measurement operations.
- TMvision and Landmark allow truly flexible, fast changeover.
- Plug & Play ecosystem provides the tools and versatility for many manufacturing needs.
- Capability to integrate with mobile robots enables fully autonomous machine tending and logistics handling applications.
- Food Grade Grease* option available (supplied with food grade grease).
TM12 and TM14 Ordering Information
| Type | Power Source | Integrated Camera | Reach | SEMI S2 Certified | Food Grade Grease* | Fieldbus | Cable Length | Part Number |
|---|---|---|---|---|---|---|---|---|
| TM12 | AC | No | 1300 mm | No | No | No | 3 m | RT6-1001301 |
| TM12 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-1001321 | |
| TM12 | AC | No | 1300 mm | No | No | Yes | 3 m | RT6-1001331 |
| TM12 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-1001341 | |
| TM12 | AC | No | 1300 mm | No | No | No | 12 m | RT6-1001302 |
| TM12 | AC | Yes | Yes | Yes | Yes | 12 m | RT6-1001322 | |
| TM12 | DC | No | 1300 mm | No | No | No | 1.5 m | RT6-1011301 |
| TM12 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-1011321 | |
| TM12 | DC | No | 1300 mm | No | No | Yes | 1.5 m | RT6-1011331 |
| TM12 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-1011341 | |
| TM12 | DC | No | 1300 mm | No | No | No | 12 m | RT6-1011302 |
| TM12 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-1011322 | |
| TM14 | AC | No | 1100 mm | No | No | No | 3 m | RT6-2001101 |
| TM14 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-2001121 | |
| TM14 | AC | No | 1100 mm | No | No | Yes | 3 m | RT6-2001131 |
| TM14 | AC | Yes | Yes | Yes | Yes | 3 m | RT6-2001141 | |
| TM14 | AC | No | 1100 mm | No | No | No | 12 m | RT6-2001102 |
| TM14 | AC | Yes | Yes | Yes | Yes | 12 m | RT6-2001122 | |
| TM14 | DC | No | 1100 mm | No | No | No | 1.5 m | RT6-2011101 |
| TM14 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-2011121 | |
| TM14 | DC | No | 1100 mm | No | No | Yes | 1.5 m | RT6-2011131 |
| TM14 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-2011141 | |
| TM14 | DC | No | 1100 mm | No | No | No | 12 m | RT6-2011102 |
| TM14 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-2011122 | |
| TM14 | DC | No | 1100 mm | No | No | No | 1.5 m | RT6-2101101 |
| TM14 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-2101121 | |
| TM14 | DC | No | 1100 mm | No | No | Yes | 1.5 m | RT6-2101111 |
| TM14 | DC | Yes | Yes | Yes | Yes | 1.5 m | RT6-2111101 | |
| TM14 | DC | No | 1100 mm | No | No | No | 12 m | RT6-2111121 |
| TM14 | DC | Yes | Yes | Yes | Yes | 12 m | RT6-2111111 |
* Food Grade Grease robots are not FDA certified. They are only suitable for select food-related applications, and require an evaluation and risk assessment of the use environment.
TM12/TM14 Part Number Structure
The part number structure for TM12/TM14 robots is RT6-□□□□□□□□, where each digit represents specific features:
| No. | Item | Specifications | Symbol |
|---|---|---|---|
| (1) | Techman Series | TM12 / TM14 | 1 / 2 |
| (2) | Model Type | TM12 / TM14 | 1 / 2 |
| (3) | Power Source | AC / DC | 0 / 1 |
| (4) | Integrated Camera | Standard / X Model (no camera) | 0 / 1 |
| (5)(6) | Arm Length | 1300 mm (TM12) / 1100 mm (TM14) | 13 / 11 |
| (7) | Option | Standard / Semi / Fieldbus / Food Grade Grease / Food Grade Grease, Fieldbus | 0 / 1 / 2 / 3 / 4 |
| (8) | Cable Length | Standard Length (3 m/1.5 m) / Extended Length (12 m) | 1 / 2 |
*1 A 1.5 meter cable is standard for DC models and a 3 meter cable is standard for AC models.
*2 A 12 meter cable is available for all AC models except for the Food Grade Grease units.
Items Included with a TM12/TM14 Robot System
| Item | Description | Quantity |
|---|---|---|
| Robot | TM12, TM14 | 1 |
| Cable | 3, 1.5, or 12 m options | 1 |
| Robot Stick | Hand control to move robot | 1 |
| Control Box | Robot Control Box | 1 |
| Calibration Plates | Large, small. (Not X model robots) | 2 |
| I/O Cables | 1 m | 2 |
| Landmark | Not with X model robots | 2 |
| Ground Wire | 3 m | 2 |
| Jumper Wire | 3 cm | 2 |
| Power cable | For Control Box (3 cable: B, G, F) 1.8 m | 1 |
| SEMI Switch | SEMI Emergency OFF, SEMI robots only | 1 |
| SEMI ESTOP Cable | SEMI robots only, 3 m | 1 |
TM12/TM14 Specifications
| Specification | TM12 | TM12X | TM14 | TM14X | |||||
|---|---|---|---|---|---|---|---|---|---|
| AC | DC | AC | DC | AC | DC | AC | DC | ||
| Product Name | TM12/TM14 Series | ||||||||
| Power Source | AC | DC | AC | DC | AC | DC | AC | DC | |
| Weight (kg) | 32.8 | 32.5 | 32.5 | 32.2 | |||||
| Controller Weight (kg) | 13.8 | 14.5 | 13.8 | 14.5 | 13.8 | 14.5 | 13.8 | 14.5 | |
| Max Payload (kg) | 12 | 14 | |||||||
| Reach (mm) | 1300 | 1100 | |||||||
| Mounting | Wall, Table, Ceiling | ||||||||
| Average Speed (m/s) | 1.3 | 1.1 | |||||||
| Joint Range | Joint 1 | ±270° | ±360° | ±270° | ±360° | ||||
| Joint 2, 4, 5 | ±180° | ±360° | ±180° | ±360° | |||||
| Joint 3 | ±166° | ±163° | |||||||
| Joint 6 | ±270° | ±360° | ±270° | ±360° | |||||
| Joint Speeds | Joint 1, 2 | 120°/s | |||||||
| Joint 3 | 180°/s | ||||||||
| Joint 4, 5 | 180°/s | 150°/s | |||||||
| Joint 6 | 180°/s | ||||||||
| Repeatability (mm) | ±0.1 | ||||||||
| Ingress Protection | IP54 (robot arm), IP32 (control box), IP40 (robot stick) | ||||||||
| Cleanroom Class | ISO Class 3 | ||||||||
| Operating Temperature and Humidity | 0 to 50°C, 85% max. (with no condensation) | ||||||||
| Storage Temperature and Humidity | -20 to 60°C, 75% max. (with no condensation) | ||||||||
| Operating and Storage Environment | No corrosive gases or exposure to water-soluble cutting oil.*1 | ||||||||
| Motor Power Supply | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | |
| Robot Arm Cable Length | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | 3 m or 12 m | 1.5 m | |
TM12/TM14 I/O Specifications
| Specification | TM12 | TM12X | TM14 | TM14X | ||||
|---|---|---|---|---|---|---|---|---|
| AC | DC | AC | DC | AC | DC | AC | DC | |
| I/O Ports (Control Box) | Digital In: 4, Digital Out: 4 Analog In: 1, Analog Out: 0 | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | ||||||
| I/O Ports (Tool) | COM: 3, HDMI: 1, LAN: 3, USB2.0: 4, USB3.0: 2 | |||||||
| I/O Interface | RS232, Ethernet (master), Modbus TCP/RTU (master & slave), PROFINET (optional), EtherNet/IP (optional) | |||||||
| I/O Power Supply | 24 VDC 2.0 A (control box) / 24 VDC 1.5 A (tool) | |||||||
| Programming Environment | TMflow, flowchart based | |||||||
| Integrated Camera Available | 5 MP, color | None | 5 MP, color | None | ||||
| SEMI S2 Certified*2 Available | No | Yes | No | Yes | No | Yes | No | Yes |
| Fieldbus Available | EtherNet/IP, PROFINET*3 | |||||||
*1 If water-soluble cutting oil is present, use a protective sleeve to prevent damage to the robot housing. OMRON offers enhanced joint covers for these applications. Contact your local OMRON representative for more information.
*2 SEMI (Semiconductor Equipment and Materials International) is the central global network of manufacturers of micro and nano electronics that issues safety guidelines. SEMI S2 is the most well-known standard in semiconductor manufacturing equipment for Environmental, Health, and Safety (EHS).
*3 A Fieldbus upgrade is available for HW3.2 robots with TMflow v1.80 or higher. Contact your local OMRON representative for more information. The Fieldbus option is not available for SEMI S2 certified robots.
TM12/TM14 Dimensions
TM12 Dimensions (Unit: mm)
- Robot Arm: Height 1300 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø312.6, 6DOF Workspace Ø312.6.
- Footprint: 184 mm diameter, 4x Ø10.5 mounting holes, Ø182 pitch circle diameter, Ø203 outer diameter, Pin slot - Thru Ø6.02 ±0.01, Pin hole Ø6.02 ±0.01.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
TM14 Dimensions (Unit: mm)
- Robot Arm: Height 1100 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø312.6, 6DOF Workspace Ø312.6.
- Footprint: 184 mm diameter, 4x Ø10.5 mounting holes, Ø182 pitch circle diameter, Ø203 outer diameter, Pin slot - Thru Ø6.02 ±0.01, Pin hole Ø6.02 ±0.01.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
TM16 Collaborative Robots
Increased power and versatility for assembly, packaging, inspection, and logistics.
- The combined 16 kg payload capacity and 900 mm reach expands material handling capabilities.
- Easy-to-use graphical programming environment for quick startup and operation.
- Built-in vision-based robot control enables visual serving, inspection, and measurement operations.
- TMvision and Landmark allow truly flexible, fast changeover.
- Plug & Play ecosystem provides the tools and versatility for many manufacturing needs.
- Capability to integrate with mobile robots enables fully autonomous machine tending and logistics handling applications.
TM16 Ordering Information
| Type | Power Source | Integrated Camera | Reach | SEMI S2 Certified | Fieldbus | Cable Length | Part Number |
|---|---|---|---|---|---|---|---|
| TM16 | AC | Yes | 900 mm | No | No | 3 m | RT6-3009001 |
| TM16 | AC | No | Yes | Yes | 3 m | RT6-3019001 | |
| TM16 | AC | Yes | 900 mm | No | No | 3 m | RT6-3009021 |
| TM16 | AC | No | Yes | Yes | 3 m | RT6-3019021 | |
| TM16 | DC | Yes | 900 mm | No | No | 1.5 m | RT6-3109001 |
| TM16 | DC | No | Yes | Yes | 1.5 m | RT6-3119001 | |
| TM16 | DC | Yes | 900 mm | No | No | 1.5 m | RT6-3109021 |
| TM16 | DC | No | Yes | Yes | 1.5 m | RT6-3119021 | |
| TM16 | DC | Yes | 900 mm | No | Yes | 1.5 m | RT6-3109011 |
| TM16 | DC | No | Yes | Yes | 1.5 m | RT6-3119011 |
TM16 Global Part Number Structure
The part number structure for TM16 robots is RT6-□□□□□□□□, where each digit represents specific features:
| No. | Item | Specifications | Symbol |
|---|---|---|---|
| (1) | Techman Series | TM16 | 3 |
| (2) | Model Type | TM16 | 3 |
| (3) | Power Source | AC / DC | 0 / 1 |
| (4) | Integrated Camera | Standard / X Model (no camera) | 0 / 1 |
| (5)(6) | Arm Length | 900 mm | 9 |
| (7) | Option | Standard / Semi / Fieldbus | 0 / 1 / 2 |
| (8) | Cable Length | Standard Length (1.5 m / 3 m) | 1 |
*1 A 1.5 meter cable is standard for DC models and a 3 meter cable is standard for AC models.
Items Included with a TM16 Robot System
| Item | Description | Quantity |
|---|---|---|
| Robot | TM16 | 1 |
| Cable | 3 meter cable for AC unit and 1.5 meter cable for DC unit | 1 |
| Robot Stick | Hand control to move robot | 1 |
| Control Box | Robot Control Box | 1 |
| Calibration Plates | Large and small. Not with X model robots | 2 |
| I/O Cables | 1 m | 2 |
| Landmark | Not with X model robots | 2 |
| Ground wire | 3 m | 2 |
| Jumper Wire | 3 cm | 2 |
| Power cable | For Control Box (3 cable: B, G, F) 1.8 m | 1 |
| SEMI Switch | SEMI Emergency OFF, SEMI robots only | 1 |
| SEMI ESTOP Cable | SEMI robots only, 3 m | 1 |
TM16 Specifications
| Specification | TM16 | TM16X | |||
|---|---|---|---|---|---|
| AC | DC | AC | DC | ||
| Product Name | TM16 Series | ||||
| Power Source | AC | DC | AC | DC | |
| Weight (kg) | 32.2 | 31.9 | |||
| Controller Weight (kg) | 14.1 | 16 | |||
| Max Payload (kg) | 16 | ||||
| Reach (mm) | 900 | ||||
| Mounting | Wall, Table, Ceiling | ||||
| Average Speed (m/s) | 1.1 | ||||
| Joint Range | Joint 1 | ±270° | ±360° | ±270° | ±360° |
| Joint 2, 4, 5 | ±180° | ±360° | ±180° | ±360° | |
| Joint 3 | ±155° | ||||
| Joint 6 | ±270° | ±360° | ±270° | ±360° | |
| Joint Speeds | Joint 1, 2 | 120°/s | |||
| Joint 3, 4, 5, 6 | 180°/s | ||||
| Repeatability (mm) | ±0.1 | ||||
| Ingress Protection | IP54 (robot arm), IP32 (control box), IP40 (robot stick) | ||||
| Cleanroom Class | ISO Class 3 | ||||
| Operating Temperature and Humidity | 0 to 50°C, 85% max. (with no condensation) | ||||
| Storage Temperature and Humidity | -20 to 60°C, 75% max. (with no condensation) | ||||
| Operating and Storage Environment | No corrosive gases or exposure to water-soluble cutting oil.*1 | ||||
| Motor Power Supply | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 22 to 60 VDC | |
| Robot Arm Cable Length (m) | 3 | 1.5 | 3 | 1.5 | |
TM16 I/O Specifications
| Specification | TM16 | TM16X | ||
|---|---|---|---|---|
| AC | DC | AC | DC | |
| I/O Ports (Control Box) | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | ||
| I/O Ports (Tool) | Digital In: 4, Digital Out: 4 Analog In: 1, Analog Out: 0 | |||
| I/O Interface | COM: 3, HDMI: 1, LAN: 3, USB2.0: 4, USB3.0: 2 | |||
| Communication | RS232, Ethernet (master), Modbus TCP/RTU (master & slave), PROFINET (optional), EtherNet/IP (optional) | |||
| I/O Power Supply | 24 VDC 2.0 A (control box) / 24 VDC 1.5 A (tool) | |||
| Programming Environment | TMflow, flowchart based | |||
| Integrated Camera Available | 5 MP, color | None | 5 MP, color | None |
| SEMI S2 Certified*2 Available | No | Yes | No | No |
| Fieldbus Available | EtherNet/IP, PROFINET | |||
*1 If water-soluble cutting oil is present, use a protective sleeve to prevent damage to the robot housing. OMRON offers enhanced joint covers for these applications. Contact your local OMRON representative for more information.
*2 SEMI (Semiconductor Equipment and Materials International) is the central global network of manufacturers of micro and nano electronics that issues safety guidelines. SEMI S2 is the most well-known standard in semiconductor manufacturing equipment for Environmental, Health, and Safety (EHS).
TM16 Dimensions
TM16 Dimensions (Unit: mm)
- Robot Arm: Height 900 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø244.60, 6DOF Workspace Ø244.60.
- Footprint: 184 mm diameter, 4x Ø10.5 mounting holes, Ø182 pitch circle diameter, Ø203 outer diameter, Pin slot - Thru Ø6.02 ±0.01, Pin hole Ø6.02 ±0.01.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
TM20 Collaborative Robots
Increased power and versatility for assembly, packaging, inspection, and logistics.
- The combined 20 kg payload capacity and 1300 mm reach expands material handling capabilities.
- Easy-to-use graphical programming environment for quick startup and operation.
- Built-in vision-based robot control enables visual serving, inspection, and measurement operations.
- TMvision and Landmark allow truly flexible, fast changeover.
- Plug & Play ecosystem provides the tools and versatility for many manufacturing needs.
- Capability to integrate with mobile robots enables fully autonomous machine tending and logistics handling applications.
TM20 Ordering Information
| Type | Power Source | Integrated Camera | Reach | Fieldbus | SEMI S2 Certified | Cable Length | Part Number |
|---|---|---|---|---|---|---|---|
| TM20 | AC | Yes | 1300 mm | No | No | 3 m | RT6-4001301 |
| TM20 | AC | No | Yes | No | 3 m | RT6-4001321 | |
| TM20 | AC | Yes | 1300 mm | No | No | 12 m | RT6-4001302 |
| TM20 | AC | No | Yes | No | 12 m | RT6-4001322 | |
| TM20 | AC | No | 1300 mm | No | No | 3 m | RT6-4011301 |
| TM20 | AC | Yes | Yes | No | 3 m | RT6-4011321 | |
| TM20 | AC | No | 1300 mm | No | No | 12 m | RT6-4011302 |
| TM20 | AC | Yes | Yes | No | 12 m | RT6-4011322 | |
| TM20 | DC | Yes | 1300 mm | No | No | 1.5 m | RT6-4101301 |
| TM20 | DC | No | Yes | No | 1.5 m | RT6-4101321 | |
| TM20 | DC | Yes | 1300 mm | No | No | 1.5 m | RT6-4101311 |
| TM20 | DC | No | Yes | No | 1.5 m | RT6-4101351 | |
| TM20 | DC | No | 1300 mm | No | No | 1.5 m | RT6-4111301 |
| TM20 | DC | Yes | Yes | No | 1.5 m | RT6-4111321 |
TM20 Global Part Number Structure
The part number structure for TM20 robots is RT6-□□□□□□□□, where each digit represents specific features:
| No. | Item | Specifications | Symbol |
|---|---|---|---|
| (1) | Techman Series | TM20 | 4 |
| (2) | Model Type | TM20 | 4 |
| (3) | Power Source | AC / DC | 0 / 1 |
| (4) | Integrated Camera | Standard / X Model (no camera) | 0 / 1 |
| (5)(6) | Arm Length | 1300 mm | 13 |
| (7) | Option | Standard / Semi / Fieldbus | 0 / 1 / 2 |
| (8) | Cable Length | Standard Length (1.5 m / 3 m) / Extended Length (12 m) | 1 / 2 |
*1 A 1.5 meter cable is standard for DC models and a 3 meter cable is standard for AC models.
*2 A 12 meter cable is available for all AC models.
Items Included with a TM20 Robot System
| Item | Description | Quantity |
|---|---|---|
| Robot | TM20 | 1 |
| Cable | 3 meter cable for AC unit and 1.5 meter cable for DC unit | 1 |
| Robot Stick | Hand control to move robot | 1 |
| Control Box | Robot Control Box | 1 |
| Calibration Plates | Large and small. Not with X model robots | 2 |
| I/O Cables | 1 m | 2 |
| Landmark | Not with X model robots | 2 |
| Ground wire | 3 m | 2 |
| Jumper Wire | 3 cm | 2 |
| Power cable | For Control Box (3 cable: B, G, F) 1.8 m | 1 |
| SEMI Switch | SEMI Emergency OFF, SEMI robots only | 1 |
| SEMI ESTOP Cable | SEMI robots only, 3 m | 1 |
TM20 Specifications
| Specification | TM20 | TM20X | |||
|---|---|---|---|---|---|
| AC | DC | AC | DC | ||
| Product Name | TM20 Series | ||||
| Power Source | AC | DC | AC | DC | |
| Weight (kg) | 33 | 33 | |||
| Controller Weight (kg) | 14.1 | 20 | |||
| Max Payload (kg) | 20 | ||||
| Reach (mm) | 1300 | ||||
| Mounting | Wall, Table, Ceiling | ||||
| Average Speed (m/s) | 1.1 | ||||
| Joint Range | Joint 1 | ±270° | ±360° | ±270° | ±360° |
| Joint 2, 4, 5 | ±180° | ±360° | ±180° | ±360° | |
| Joint 3 | ±166° | ||||
| Joint 6 | ±270° | ±360° | ±270° | ±360° | |
| Joint Speeds | Joint 1, 2 | 90°/s | |||
| Joint 3 | 120°/s | ||||
| Joint 4 | 150°/s | ||||
| Joint 5 | 180°/s | ||||
| Joint 6 | 225°/s | ||||
| Repeatability (mm) | ±0.1 | ||||
| Ingress Protection | IP54 (robot arm), IP32 (control box), IP40 (robot stick) | ||||
| Cleanroom Class | ISO Class 3 | ||||
| Operating Temperature and Humidity | 0 to 50°C, 85% max. (with no condensation) | ||||
| Storage Temperature and Humidity | -20 to 60°C, 75% max. (with no condensation) | ||||
| Operating and Storage Environment | No corrosive gases or exposure to water-soluble cutting oil. | ||||
| Motor Power Supply | 100 to 240 VAC, 50/60 Hz | 24 to 60 VDC | 100 to 240 VAC, 50/60 Hz | 24 to 60 VDC | |
| Robot Arm Cable Length (m) | 3 or 12 | 1.5 | 3 or 12 | 1.5 | |
TM20 I/O Specifications
| Specification | TM20 | TM20X | ||
|---|---|---|---|---|
| AC | DC | AC | DC | |
| I/O Ports (Control Box) | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | Digital In: 16, Digital Out: 16 Analog In: 2, Analog Out: 1 | ||
| I/O Ports (Tool) | Digital In: 4, Digital Out: 4 Analog In: 1, Analog Out: 0 | |||
| I/O Interface | COM: 3, HDMI: 1, LAN: 3, USB2.0: 4, USB3.0: 2 | |||
| Communication | RS232, Ethernet (master), Modbus TCP/RTU (master & slave), PROFINET (optional), EtherNet/IP (optional) | |||
| I/O Power Supply | 24 VDC 2.0 A (control box) / 24 VDC 1.5 A (tool) | |||
| Programming Environment | TMflow, flowchart based | |||
| Integrated Camera Available | 5 MP, color | None | 5 MP, color | None |
| SEMI S2 Certified*1 Available | No | Yes | No | No |
| Fieldbus Available | EtherNet/IP, PROFINET | |||
*1 SEMI (Semiconductor Equipment and Materials International) is the central global network of manufacturers of micro and nano electronics that issues safety guidelines. SEMI S2 is the most well-known standard in semiconductor manufacturing equipment for Environmental, Health, and Safety (EHS).
TM20 Dimensions
TM20/20X Dimensions (Unit: mm)
- Robot Arm: Height 1300 mm, various joint dimensions provided in diagrams.
- Workspace Side View: 5DOF Workspace Ø312.6, 6DOF Workspace Ø312.6.
- Footprint: 184 mm diameter, 4x Ø10.5 mounting holes, Ø182 pitch circle diameter, Ø203 outer diameter, Pin slot - Thru Ø6.02 ±0.01, Pin hole Ø6.02 ±0.01.
- Flange: Digital I/O, Analog I/O, Camera mounting details.
- Control Box: Dimensions 410 x 210 x 432 mm.
Accessories & Software
Accessories
| Appearance | Product Name | Description | Remarks | Part Number |
|---|---|---|---|---|
 | Landmark | Robot positioning tool as a reference to the environment. | Two included with purchase of a robot. Not included with X model robots | RT6-A000021 |
 | Mobile Workstation (MWS) | MWS is a convenient tool for users to mount the cobot arm on work surface, and store the control box safely within. Users can easily move the MWS with the cobot to different work cells. | Compatible with OMRON TM5-700, TM5-900, TM5S and TM7S | RT6-A000010 |
 | Robot stand | Similar to MWS, the robot stand can be easily moved with the cobot to different work stations. | Compatible with OMRON TM5-700, TM5-900, TM5S and TM7S | RT6-A000009 |
 | SSD with cable | 128 GB solid state hard drive. SATA cable included. Recommended for external cameras image logging. | Required for TCP and manual vision calibration. | RT6-A000012 |
 | Toolkit, calibration set with additional pin | Toolkit for teaching a precise tool center point (TCP) that can be used for manual workspace calibration within TMvision. | Required for TCP and manual vision calibration. | RT6-A000002 |
 | Robot stick stand | Mounting fixture for the robot stick. | Can be used on desktops, walls, and MWS. | RT6-A000000 |
 | Polarizer Light Module | Improves the reflection caused by the robot's own light source on the surface of highly reflective objects. | For TM5/12/14/16/20 models with HW 3.2 or above. | RT6-A000022 |
 | Air Filter (ROHS) | Replacement air filter for the control box. The filter must be changed regularly to maintain efficiency. The replacement procedure can be found in the Hardware Installation Manual. | 19936-443F | |
 | Teach Pendant | A handheld operating teach pendant. 10.1 inch WXGA resolution panel. | NexCobot Teach Pendant model TP-100-1. | RT6-A000020 |
Software
| Product Name | Add-On Product Names | Remarks | Part Number |
|---|---|---|---|
| TMflow | N/A | Software required to control the cobot. Free download | N/A |
| Super Software Dongle | TM Identify & Measure | License, add-on to TMflow. Includes: identification of pose variation, specific color area size, subtract reference image, line/circle burr, counting and gauge. | RT6-A000026 |
| TM External Vision | License, add-on to TMflow. Required when using eye-to-hand cameras. | ||
| TM OCR | License, add-on to TMflow. Includes: Text OCR and Number OCR. | ||
| TMflow Editor | License, provides a convenient way to open and edit projects online. | ||
| TMflow Editor - AOI | License, add-on to TMflow Editor. Enables TMflow Editor to offline edit a TMflow project that includes AOI version. | ||
| TMStudio Palletizing Wizard Export, Software Dongle | License, TMStudio Palletizing Wizard Export Software. Includes 1 USB Dongle. | RT6-S100008 |
Accessories Dimensions
Mobile Work Station (MWS) Dimensions (Unit: mm)
- Width: 700 mm, Depth: 500 mm, Height: 800 mm. Base dimensions: 750 x 700 mm.
Robot Stand Dimensions (Unit: mm)
- Base: 750 x 750 mm. Height: 900 mm. Mounting plate dimensions: 300 x 110 mm.
Related Manuals
| Cat. No. | Title |
|---|---|
| I623 | TM5 Regular Payload Series Hardware Installation Manual |
| I624 | TM12 & TM14 Medium & Heavy Payload Series Hardware Installation Manual |
| I678 | TM16 & TM20 Series Hardware Installation Manual |
| I626 | Software Manual TMflow |
| I627 | Software Manual TMvision |
| I628 | TM Mobile Work Station Manual |
| I629 | TM Robot Stand Manual |
| I648 | Safety Manual |
| I664 | TM Script Language Manual |
| I848 | Expression Editor and Listen Node Reference Guide |
Terms and Conditions Agreement
Read and understand this catalog.
Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments.
Warranties
- Exclusive Warranty: OMRON's exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by OMRON. OMRON disclaims all other warranties, express or implied.
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- Buyer Remedy: Omron's sole obligation shall be, at Omron's election, to replace, repair, or repay/credit the purchase price of the non-complying Product, provided Omron's analysis confirms proper handling, storage, installation, and maintenance. Return of Products requires written approval from Omron.
- Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments.
- See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. In no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer's application or use of the Product. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer's application, product or system. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user's programming of a programmable Product, or any consequence thereof.
Performance Data
Data presented in OMRON Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. Actual performance is subject to the Omron's Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other reasons. However, some specifications of the Product may be changed without any notice. Please consult with your Omron's representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
