Omron TM5-700 Manual 

RLSH/RHLF/RCKL-TM Series CC-1507A TECHMAN/OMRON ROBOT Certified Grippers

software allows for a single node to arbitrarily set the digital I/O setting, the time-out period for the gripper open/close, and the standby time after gripper open/close. Mountable on robots in just 5 minutes Reduced teaching time Wiring connector Robot flange 3 1 2 - Through the adoption of a robot flange common to the entire series, changeover can be done simply by replacing the gripper. - The simple gripper design enables replacement without tools: just turn the clamp ring by hand. Enables gripper replacement without tools 1 Mount dedicated flange on the robot 2 Turn the clamp ring to mount gripper 3 Connect the wiring connector Mounting complete! Indicator lamp visualizing 360° Round shape with no protrusions or edges Easy setting of finger open/close by switching directional control valve * and gripping power by adjusting regulator * Grip speed easily adjustable with speed adjustment knob Air drive realizes high gripping power while being lightweight * Option TECHMAN/OMRON ROBOT Certified Grippers Compatible with TM5-700/TM5-900/TM12/TM14

(For details, refer to the CKD website (https://www.ckd.co.jp/english/).) Compact body avoids interference with robot trajectory Thin long stroke length keeps height low 3-way finger ideal for round and cylindrical workpieces RLSH Series RCKL Series RHLF Series 3 models lined up to match your application Total support for air systems Valve ● Directional control valve ● Fitting ● Silencer ● Air tube * Optionally, the above 4 items can be ordered as a set. Other air systems ● Compact compressor (Portable Air Supply Unit) ● Filter, regulator ● Fitting ● Sensors ● Communication supported devices, etc. * Purchase separately. Compact 3-way finger Long stroke length *At supply pressure of 0.5 MPa, finger length (ℓ) = 20 mm, stroke center Stroke length: 18 mm Gripping power: 42 N * Weight: 1.0 kg Stroke length: 32 mm Gripping power: 85 N * Weight: 1.1 kg Stroke length: 10 mm Gripping power: 125 N * Weight: 1.1 kg Pneumatic gripper with high affinity for Collaborative Robots The Grippers for collaborative robots RLSH/RHLF/RCKL-TM Series offers high gripping power while being compact and lightweight thanks to its air drive. Easy setting enables introduction to any customer's collaborative robot.

RLSH-TM Series Speed controller with cylinder switch Port size: ø4 push-in fitting How to order Specifications Item RLSH Bore size mm ø20 Actuation Double acting Working fluid Compressed air Max. working pressure MPa 0.7 Min. working pressure MPa 0.1 Port size ø4 push-in fitting Ambient temperature °C 0 to 50 Operating stroke length mm 18 Repeatability mm ±0.01 Weight kg 1 Display lamp Blue/green Cylinder switch With F2H (Yellow LED lit when ON) Note: For attachments manufactured to match workpieces, refer to page 5. TM RLSH A20D1N L1 B Attachment A Robot flange TM/Omron Robot certified Code Description A Robot flange Blank No robot flange F With robot flange (*1) B Attachment Blank No attachment Y2 Test attachment (*2) V Directional control valve/tube (*3) *1: Bolts included for robot flange mounting *2: Use for gripping tests only, as it is resin. (Weight about 25 g per pc) *3: Directional control valve comes with ø4 push-in fitting (air supply port / A/B port), silencer (R1/R2 port), and mounting plate. Tube: O.D. ø4, length 2.5 m x 2 pcs Refer to Ending for details on the directional control valve. Gripping power performance data Dimensions Y2V F ・ Gripping power represents the thrust (per one finger) in the arrow direction shown in the figure. ・ The gripping power in the opening/closing directions with attachment length L of gripper with a supply pressure of 0.3, 0.5 and 0.7 MPa is shown. ・ Open direction ( ) (shown with broken line) ・Close direction ( ) (shown with solid line) Gripping power (N) 100 80 60 40 20 0 0 20 40 60 80 100 Length of attachment ℓ (mm) 0.7 MPa open 0.5 MPa open 0.7 MPa close 0.5 MPa close 0.3 MPa open 0.3 MPa close ø76 4-ø6.5 ø6.1 45° 230 Indicator lamp No robot flange Robot flange Compatible tube O.D. ø4 (Closed port) Speed adjustment knob (Closed side) Speed adjustment knob (Open side) Compatible tube O.D. ø4 (Open port) 4-M4 × 0.7 through ø66 ø63 83 34.3 (When open) 0 +2.4 16.3 -0.7 (When closed) 0 8-0.1 0 12-0.05 0 16.3 -0.7(When closed) 0 ℓ 41.3 6 9 5 (20.4) 121.6 148 P.C.D. 50 ø5.1 43 21.3 34.3 (When open) 0 +2.4 Dimensions with attachment mounted

RHLF-TM Series Speed controller with cylinder switch Port size: ø4 push-in fitting How to order Specifications Item RHLF Bore size mm ø16 × 2 Actuation Double acting Working fluid Compressed air Max. working pressure MPa 0.7 Min. working pressure MPa 0.2 Port size ø4 push-in fitting Ambient temperature °C 5 to 50 Operating stroke length mm 32 Repeatability mm ±0.03 Weight kg 1.1 Display lamp Blue/green Cylinder switch With T2H (Red LED lit when ON) Note: For attachments manufactured to match workpieces, refer to page 5. TM RHLF 16CS B Attachment A Robot flange TM/Omron Robot certified Code Description A Robot flange Blank No robot flange F With robot flange (*1) B Attachment Blank No attachment Y2 Test attachment (*2) V Directional control valve/tube (*3) *1: Bolts included for robot flange mounting *2: Use for gripping tests only, as it is resin. (Weight about 30 g per pc) *3: Directional control valve comes with ø4 push-in fitting (air supply port / A/B port), silencer (R1/R2 port), and mounting plate. Tube: O.D. ø4, length 2.5 m x 2 pcs Refer to Ending for details on the directional control valve. Gripping power performance data Dimensions Y2V F ・ Gripping power represents the thrust (per one finger) in the arrow direction shown in the figure. ・ The gripping power in the opening/closing directions with attachment length L of gripper with a supply pressure of 0.3, 0.5 and 0.7 MPa is shown. ・ Open direction ( ) and close direction ( ) (shown with solid line) Gripping power (N) 125 100 75 50 25 0 0 20 40 60 80 100 Length of attachment ℓ (mm) 0.7 MPa open/close 0.5 MPa open/close 0.3 MPa open/close ℓ Robot flange ø76 230 79 54.4 (closed) 86.4 (open) ø66 ø63 34 10 10 ±0.05 31.4 10.7 32 (open) 0 (closed) 4 × 2-M4 × 0.7 depth 5 138 41.3 (37.3) ø5.1 (0.3) Indicator lamp 6 20 27 94.5 100.8 Compatible tube O.D. ø4 (Open port) Compatible tube O.D. ø4 (Closed port) Speed adjustment knob (Closed side) Speed adjustment knob (Open side) 2 × 2-ø3 Depth 3 0 +0.03 No robot flange 4-ø6.5 ø6.1 45° P.C.D. 50 Dimensions with attachment mounted

RCKL-TM Series Speed controller with cylinder switch Port size: ø4 push-in fitting How to order Specifications Item RCKL Bore size mm ø40 Actuation Double acting Working fluid Compressed air Max. working pressure MPa 0.7 Min. working pressure MPa 0.3 Port size ø4 push-in fitting Ambient temperature °C 5 to 50 Operating stroke length mm 10 Repeatability mm ±0.01 Weight kg 1.1 Display lamp Blue/green Cylinder switch With T2H (Red LED lit when ON) Note: For attachments manufactured to match workpieces, refer to page 5. TM RCKL 40CS B Attachment Gripping power performance data Dimensions F Code Description A Robot flange Blank No robot flange F With robot flange (*1) B Attachment Blank No attachment Y3 Attachment (*2) V Directional control valve/tube (*3) *1: Bolts included for robot flange mounting *2: Made-to-order product, aluminum. (Weight about 50 g per pc) *3: Directional control valve comes with ø4 push-in fitting (air supply port / A/B port), silencer (R1/R2 port), and mounting plate. Tube: O.D. ø4, length 2.5 m x 2 pcs Refer to Ending for details on the directional control valve. ・ Gripping power represents the thrust (per one finger) in the arrow direction shown in the figure. ・ The gripping power in the opening/closing directions with attachment length L of gripper with a supply pressure of 0.3, 0.5 and 0.7 MPa is shown. ・ Open direction ( ) (shown with broken line) ・Close direction ( ) (shown with solid line) Y3V A Robot flange TM/Omron Robot certified Gripping power (N) 250 200 150 100 50 0 0 20 40 60 80 100 Length of attachment ℓ (mm) 0.7 MPa open 0.7 MPa close 0.5 MPa open 0.5 MPa close 0.3 MPa open 0.3 MPa close ℓ ø76 230 ø85 ø66 ø63 41.3 6 5.4 12 21 44 31 5.5 5.5 9 15 (open) 10 (closed) 49 4.5 108 119.4 ø5.1 Indicator lamp 3 × 2-M5 depth 10 ø8 spot face depth 4.4 2.5 Compatible tube O.D. ø4 (Open port) Speed adjustment knob (Closed side) Compatible tube O.D. ø4 (Closed port) Speed adjustment knob (Open side) 8-0.015 0 3 0 +0.03 ø3 depth 4 ø77 (closed) 2-ø4.5 20 ø87 (open) 4-ø6.5 ø6.1 45° P.C.D. 50 No robot flange Dimensions with attachment mounted Robot flange

CKD Pneumatic Gripper Software Operation Method This is an overview of the operation method for the CKD Pneumatic Gripper dedicated software. Refer to the Robot manual and this product's Instruction Manual for details. Software installation Download the Plug&Play software package (TECHMAN ROBOT Inc. robot users: https://www.ckd.co.jp/english, OMRON robot users: https://www.omron.com/global/en), follow the directions in the Instruction Manual, and import the file. Program screen The gripper open/close directions are shown with icons, so drag the icon to the flow edit area and set the digital I/O. Node screen Set the directional control valve digital I/O setting, the gripper open/close timeout time, and the wait time after workpiece gripping. Graphic display The gripper open/close status and built-in cylinder switch operational status are shown with color changes. Close digital I/O setting The digital I/O setting for the directional control valve close operation can be set at will. Close timeout setting Sets the time at which, if the gripper close time exceeds the arbitrarily set number of seconds, an error will be displayed. Standby time setting after closing Sets the arbitrary standby time to stabilize operation after closing the gripper. *Open time is set likewise. Drag Flow area Drag

L: Distance to the point where load is applied Attachment External forces applied to finger Repeatability ● Use an attachment as short and lightweight as possible. If the attachment is long and heavy, inertia increases when opening and closing. This may cause play in the finger, and adversely affect durability. ● When mounting an L-shaped attachment, select length as shown below. Ex.: If the L-shape is 30 mm in the finger direction and 30 mm at a 90° angle, assume the attachment length is 60 mm. ● Length of attachment should be within the numerical values of gripping power performance data. ● The weight of the attachment affects durability, so check that the weight is in accordance with the table below. When external force such as workpiece transport or insertion is applied to the finger, use it within the range in [Table 1]. (*For use during transport, be careful of impacts applied to the end.) ・Calculation example of external forces applied to finger Calculation example (1): Workpiece transport When gripping a workpiece (weight m = 0.7 kg, center of gravity distance L = 40 mm) with model No. RLSH-A20D1N, attachment (weight mk = 0.4 kg, center of gravity distance Lk = 30 mm) for transport (When g: gravity acceleration = 9.8 m/s 2 and α: coefficient of impact on end = 3) M1 = α × W1 × L=α × (mk × g × Lk × 2 + m × g × L) = 3 × (0.4 × 9.8 × 30 × 10 −3 × 2 + 0.7 × 9.8 × 40 × 10 −3) ≈ 1.5 N・m, M1max = 1.8 N・m or less, use is possible Calculation example (2): Workpiece insertion Model No.: RLSH-A20D1N, where load W1 of 30 N is applied to L: 40 mm M1=W1×L = 30×40×10 −3=1.2 N・m, M1max=1.8 N・m or less, use is possible [Table 1] Allowable load value Model Vertical load Wmax (N) Bending moment M1max (N・m) Radial moment M2max (N・m) Torsion moment M3max (N・m) RLSH 198 1.8 3.6 1.8 RHLF 164 0.94 2 1.1 Model Weight W per attachment RLSH W < 80 g RHLF W < 100 g RCKL W < 95 g The repeatability here indicates the displacement of the workpiece in the case of repeated clamping and unclamping in the same conditions (gripper fixed, same workpiece used: see right). Conditions ・Workpiece dimensions, shape, weight ・Workpiece transfer position ・Clamp method, length ・Workpiece and workpiece receiving surface resistance ・Fluctuation of gripping power (air pressure), etc. Base line ●: Base line X X Y Y L L L L Vertical load W (N) Bending moment M1 (N・m) = W1 × L Radial moment M2 (N・m) = W2 × L Torsion moment M3 (N・m) = W3 × L W1 W2 W3

mechanism, pneumatic control circuit, or water control circuit and the system operated by electrical control that controls the devices is secured. It is important to select, use, handle and maintain the product appropriately to ensure that the CKD product is used safely. Observe warnings and precautions to ensure device safety. Check that device safety is ensured, and manufacture a safe device. The precautions are ranked as "DANGER", "WARNING" and "CAUTION" in this section. Danger: When a dangerous situation may occur if handling is mistaken leading to fatal or serious injuries, and when there is a high degree of emergency to a warning. (DANGER) Warning: If handled incorrectly, a dangerous situation may occur, resulting in death or serious injury. (WARNING) Caution: When a dangerous situation may occur if handling is mistaken leading to minor injuries or physical damage. (CAUTION) Note that some items described as "CAUTION" may lead to serious results depending on the situation. Every item provides important information and must be observed. Warranty 1 Warranty period The product specified herein is warranted for one (1) year from the date of delivery to the location specified by the customer. 2 Warranty coverage If the product specified herein fails for reasons attributable to CKD within the warranty period specified above, CKD will promptly provide a replacement for the faulty product or a part thereof or repair the faulty product at one of CKD’s facilities free of charge. However, following failures are excluded from this warranty: 1) Failure caused by handling or use of the product under conditions and in environments not conforming to those stated in the catalog, the Specifications, or the Instruction Manual. 2) Failure caused by use of the product exceeding its durability (cycles, distance, time, etc.) or caused by consumable parts. 3) Failure not caused by the product. 4) Failure caused by use not intended for the product. 5) Failure caused by modifications/alterations or repairs not carried out by CKD. 6) Failure caused by reasons unforeseen at the level of technology available at the time of delivery. 7) Failure caused by acts of nature and disasters beyond control of CKD. The warranty stated herein covers only the delivered product itself. Any loss or damage induced by failure of the delivered product is excluded from this warranty. Note: For details on the durability and consumable parts, contact your nearest CKD sales office. 3 Compatibility check The customer is responsible for confirming the compatibility of CKD products with the customer's systems, machines and equipment. 1 This product is designed and manufactured as a general industrial machine part. It must be handled by an operator having sufficient knowledge and experience. 2 Use this product in accordance with specifications. This product must be used within its stated specifications. In addition, never modify or additionally machine this product. This product is intended for use in general industrial machinery equipment or parts. It is not intended for use outdoors (except for products with outdoor specifications) or for use under the following conditions or environments. (Note that this product can be used when CKD is consulted prior to its usage and the customer consents to CKD product specifications. The customer should provide safety measures to avoid danger in the event of problems.) ● 1 Use for applications requiring safety, including nuclear energy, railways, aircraft, marine vessels, vehicles, medical devices, devices or applications in contact with beverages or foodstuffs, amusement devices, emergency cutoff circuits, press machines, brake circuits, or safety devices or applications. ● 2 Use for applications where life or assets could be significantly affected, and special safety measures are required. 3 Observe organization standards and regulations, etc. related to the safety of device design and control, etc. ISO4414, JIS B 8370 (Pneumatics fluid power - General rules and safety requirements for systems and their components) JFPS2008 (Principles for pneumatic cylinder selection and use) Including the High Pressure Gas Safety Act, Industrial Safety and Health Act, other safety rules, organization standards and regulations, etc. 4 Do not handle, pipe, or remove devices before confirming safety. ● 1 Inspect and service the machine and devices after confirming safety of all systems related to this product. ● 2 Note that there may be hot or charged sections even after operation is stopped. ● 3 When inspecting or servicing the device, turn OFF the energy source (air supply or water supply), and turn OFF power to the facility. Discharge any compressed air from the system, and pay attention to possible water leakage and leakage of electricity. ● 4 When starting or restarting a machine or device that incorporates pneumatic components, make sure that the system safety, such as pop-out prevention measures, is secured. 5 Observe warnings and cautions in the following pages to prevent accidents. WARNING Safety Precautions Be sure to read this section before use.

Thoroughly read the regulations below before use. WARNING If the moving workpiece poses a risk to personnel or if human fingers could be caught in the finger attachment, install safety measures such as a protective cover, etc. If the circuit pressure drops due to power failure or air source trouble, the gripping power may decrease and the workpiece may fall. Provide position locking measures, etc., so that personnel are not injured or machines damaged. CAUTION Working environment At cutting, casting, or welding plants, there is a risk of foreign matter, such as cutting fluid, chips, powder and dust, entering the equipment. Use covers and such to prevent this as much as possible. Do not use the equipment under the following environments. Exposed to coolant (because the sliding section is abraded by abrasive or polishing debris in the liquid) When the atmosphere contains organic solvents, chemicals, acids, alkalis, kerosene, etc. Exposed to water When gripping long or large workpieces, stable gripping requires a grip on the center of gravity. Stability is a must when using larger or multiple workpieces as well. ◎: Excellent, 〇: Acceptable, △: Conditional, ×: Unusable Select a model with sufficient power to grip the workpiece weight. Select a model with sufficient opening/closing width for the workpiece size. If directly inserting the workpiece into the jig with the gripper, consider relief during design. The gripper may be damaged. ◎ WL ○ WL △ WL × WL Pneumatic components Safety Precautions Be sure to read this section before use. Refer to Pneumatic Cylinders (CB-030SA) for general information of the cylinder and cylinder switches. Product-specific cautions: Grippers for collaborative robots ISO 10218, JIS B 8433 (Robots and robotic devices) ISO/TS 15066 (Robots and robotic devices) Design/selection If the attachment is not rigid enough, the resulting sag could cause the finger to twist or adversely affect operation. Adjust the gripper open/close speed with the speed controller. When used at high speed, backlash may occur sooner. In addition, the workpiece may vibrate due to shocks in opening/closing, which may lead to erroneous gripping, erroneous insertion of workpieces and poor repeatability. Condensation (water drops) may occur in the piping in certain conditions if an actuator with small bore size/short stroke is operated at high frequency. Take measures against condensation with a quick exhaust valve, etc. Gripper Gripper Push cylinder Gripper Mini slide mechanism Stopper When using push cylinder Push-in jig with ejector Note) Since the workpiece slides over the top of the attachment, it may significantly shorten the service life of the gripper. The shape of the attachment should be sufficiently considered.

Mounting, installation and adjustment CAUTION Do not apply excessive load to the finger or attachment when attaching/removing or transporting the workpiece. Scratches and dents may occur on the rolling surface of the finger linear guide, possibly causing malfunction. Item Bolt used Tightening torque (N・m) RLSH-A20D1N M4 × 0.7 1.4 RHLF-16CS M4 × 0.7 1.4 RCKL-40CS M5 × 0.8 2.8 Mounting the attachment When mounting the attachment to the finger, to prevent any effect on the gripper, support with a wrench, etc., when tightening so that the finger is not twisted. [Electric circuit diagram] [Mounting method] (1) When mounting the gripper, keep the LED lamp parallel to the camera. Mount the parallel pin on the connector side. (2) Loosen the clamp ring and remove the robot flange from the gripper. After inserting the parallel pin (included) on the robot flange side, mount the robot flange to the robot with 4 hexagon socket head cap screws (included). Note: Tightening torque = 7 N・m (3) Mount the gripper on the robot flange and tighten the clamp ring. Note: Turn the clamp ring forcefully by hand to tighten it, and check that it is not loose. (4) Connect the gripper connector to the robot tool connector. [Switch specifications] Item Proximity 2-wire F2H T2H Applications Dedicated for programmable controller Load voltage/current 10 to 30 VDC 5 to 20 mA Leakage current 1 mA or less Impact resistance 980 m/s 2 Weight g 10 18 Do not apply load to the body. Tightening Gripper Workpiece Wiring connector Tool connector Robot flange Gripper Tool connector Robot side Parallel pin Camera Robot flange Clamp ring Hexagon socket head cap screw 4 pcs Flange inner indicator lamp Flange inner cylinder switch Tool I/O connector 24V LED1 blue blue green green GND GND GND GND GND GND LED2 24V 24V WH BN GN YE GY PK BU RD 1 2 3 4 5 6 7 8 1 2 3 SW2 OUT 4 SW1 OUT 5 24V IN 6 GND IN 7 8 9 SW1 OUT 10 SW1 GND 11 12 SW2 OUT 13 SW2 GND 14 15 16 Load fail Load fail CN1 CN2 BN SW-F2H (RLSH) SW-T2H (RHLF) SW-T2H (RCKL) SW-F2H (RLSH) SW-T2H (RHLF) SW-T2H (RCKL) Switch Main circuit Switch Main circuit BN BU BU 2 1 7 3 8 6 4 5

Attachment V (directional control valve/tube) when Item Ⓑ is selected Directional control valve model No. 4GA120R-C4-E21P-FLA28482-3-ST Refer to "Pneumatic Valves (No. CB-023SA)" for products with other specifications. Specifications Item Description Valve and operation Pilot operated soft spool valve Solenoid position 2-position double solenoid Max. working pressure MPa 0.7 Min. working pressure MPa 0.2 Ambient temperature °C -5 to 55 (no freezing) Fluid temperature °C 5 to 55 Manual override Non-locking/locking common Response time ms 9 Flow characteristics C[dm 3/(s·bar)], b P → A/B: C=1.2, b=0.47 A/B → R1/R2: C=0.72, b=0.37 Rated voltage V 24 VDC Voltage fluctuation range ±10% Holding current A 0.017 Power consumption W 0.40 Surge suppressor Integrated Indicator Lamp built in Dimensions 2020 2020.9 If the goods and/or their replicas, the technology and/or software found in this catalog are to be exported from Japan, Japanese laws require that the exporter makes sure that they will never be used for the development or manufacture of weapons for mass destruction. East Japan Branch Central Japan Branch West Japan Branch 12 22 4 2-4.4 30 17.8 63.4 4 Lead wire length 1000 (AWG#26, O.D. ø1.3) 2-width 3.2 slot 2-Push-in fitting ø4 4 (A) 2 (B) port 112 57.6 Mounting plate (included) 2-Silencer SL-M5 (included) 5 (R1) 3 (R2) port Push-in fitting ø4 (included) 1 (P) port 14.5 Directional control valve 4GA120R-C4-E21P-3 Related products Directional control valve (option) Modular F.R.L. Catalog No. CB-024SA Portable Air Supply Unit ASU-S Easily portable compact compressor Supplies clean air with built-in filter Continuous operation Catalog No. CC-1363A Compact modular design with unified boundary dimensions of filters, regulators, lubricators, etc. Various combinations are possible to suit a variety of applications Long service life element Simple front surface design