TM AI Cobot S Series Specification

Specification Specification
Model TM5S TM6S TM7S TM12S TM5S-M TM6S-M TM7S-M TM12S-M TM5S-X TM6S-X TM7S-X TM12S-X TM14S TM20S TM25S TM30S TM14S-M TM20S-M TM25S-M TM30S-M TM14S-X TM20S-X TM25S-X TM30S-X
Weight 23.9kg 35.5kg 22.9kg 33.3kg 23.9kg 35.5kg 22.9kg 33.3kg 23.6kg 35.2kg 22.6kg 33kg 33kg 33.3 kg 81.6kg 80.6kg 33kg 33.3 kg 81.6kg 80.6kg 32.7kg 33 kg 81.3kg 80.3kg
Maximum Payload 5㎏ 6㎏ 7㎏ 12㎏ 5㎏ 6㎏ 7㎏ 12㎏ 5㎏ 6㎏ 7㎏ 12㎏ 14㎏ 20㎏ 25㎏ 30㎏ 14㎏ 20㎏ 25㎏ 30㎏ 14㎏ 20㎏ 25㎏ 30㎏
Reach 946㎜ 1800㎜ 758㎜ 1300㎜ 946㎜ 1800㎜ 758㎜ 1300㎜ 946㎜ 1800㎜ 758㎜ 1300㎜ 1100㎜ 1300㎜ 1902mm 1702mm 1100㎜ 1300㎜ 1902mm 1702mm 1100㎜ 1300㎜ 1902mm 1702mm
J1, J2, J4, +/- 360°
Joint +/- 360°
J5, J6
Ranges
J3 +/- 158° +/- 166° +/- 152° +/- 162° +/- 158° +/- 166° +/- 152° +/- 162° +/- 158° +/- 166° +/- 152° +/- 162° +/- 159° +/- 162° +/- 166° +/- 170° +/- 159° +/- 162° +/- 166° +/- 170° +/- 159° +/- 162° +/- 166° +/- 170°
J1 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 130°/s 100°/s 130°/s 100°/s 130°/s 100°/s
J2 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 210°/s 130°/s 130°/s 95°/s 100°/s 130°/s 95°/s 100°/s 130°/s 95°/s 100°/s
J3 210°/s 210°/s 125°/s 130°/s 210°/s 125°/s 130°/s 210°/s 125°/s 130°/s
Speed
J4 225°/s 225°/s 160°/s 195°/s 225°/s 160°/s 195°/s 225°/s 160°/s 195°/s
J5 225°/s 225°/s 190°/s 210°/s 225°/s 190°/s 210°/s 225°/s 190°/s 210°/s
J6 450°/s 450°/s 225°/s 450°/s 225°/s 450°/s 225°/s
Max. Speed 4.5㎧ 4.5㎧ 5.2㎧ 4.5㎧ 5.2㎧ 4.5㎧ 5.2㎧
Repeatability +/- 0.03㎜ +/- 0.05㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.05㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.05㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.03㎜ +/- 0.05㎜ +/- 0.05㎜ +/- 0.03㎜ +/- 0.05㎜ +/- 0.05㎜ +/- 0.03㎜ +/- 0.05 ㎜ +/- 0.05㎜
Degree Of Freedom 6 rotating joints 6 rotating joints
Digital In: 16 / Digital Out: 16 Digital In: 16 / Digital Out: 16
Control Box
Analog In: 2 / Analog Out: 2 Analog In: 2 / Analog Out: 2
I/O
Digital In: 3 / Digital Out: 3 Digital In: 3 / Digital Out: 3
Tool Conn.
DO_0 (DO-0/AI) / DO_1 (DO-1/RS485-) / DO_2 (DO-2/RS485+) DO_0 (DO-0/AI) / DO_1 (DO-1/RS485-) / DO_2 (DO-2/RS485+)
I/O Power Supply 24V 2.0A for control box, 24V 1.5A for tool 24V 2.0A for control box, 24V 1.5A for tool
IP65 (Robot Arm) *(1) IP65 (Robot Arm) *(1) IP65 (Robot Arm) *(1) IP65 (Robot Arm) *(1) IP65 (Robot Arm) *(1) IP65 (Robot Arm) *(1)
IP Classification
IP54 (Control Box) IP54 (Control Box) IP54 (Control Box) IP54 (Control Box)
Typical Power
Consumption 240 W 400 W 240 W 400 W 240 W 400 W 240 W 400 W 240 W 400 W 240 W 400 W 400 W 600 W 400 W 600 W 400 W 600 W

Temperature 0~50°C 0~50°C

Cleanliness ISO Class 3 ISO Class 3
Power Supply 100~240 VAC, 50~60 Hz 24~60 VDC 100~240 VAC, 50~60 Hz 100~240 VAC, 50~60 Hz 200~240 VAC, 50~60 Hz 24~60 VDC 48~60 VDC 100~240 VAC, 50~60 Hz 200~240 VAC, 50~60 Hz
I/O Interface 2×COM, 1×HDMI, 3×LAN, 2×USB2.0, 4×USB3.0 2×COM, 1×HDMI, 3×LAN, 2×USB2.0, 4×USB3.0
RS-232/RS-422/RS-485, Ethernet, Modbus TCP/RTU (master & slave) RS-232/RS-422/RS-485, Ethernet, Modbus TCP/RTU (master & slave)
Communication
Optionally support specified network card of PROFINET, EtherNet/IP, EtherCAT, CC-Link *(2) Optionally support specified network card of PROFINET, EtherNet/IP, EtherCAT, CC-Link *(2)
Programming
TMflow (flowchart based), TMscript (script based), TMcraft (developer based) TMflow (flowchart based), TMscript (script based), TMcraft (developer based)
Environment
TÜV certificated ISO 13849-1, ISO 10218-1, ISO/TS 15066 TÜV certificated ISO 13849-1, ISO 10218-1, ISO/TS 15066
Certification SGS certificated UL1740, CAN/CSA Z424-14 (R2019) SGS certificated UL1740, CAN/CSA Z424-14 (R2019)
CE, NSF/ANSI 169 (optional), SEMI S2 (optional) CE, NSF/ANSI 169 (optional), SEMI S2 (optional)
AI & Robot Vision AI & Robot Vision

AI Function Classification, Object Detection, Segmentation, Anomaly Detection, AI OCR Classification, Object Detection, Segmentation, Anomaly Detection, AI OCR

Positioning, 1D/2D Barcode Reading, OCR, Positioning, 1D/2D Barcode Reading, OCR,
Application
Defect Detection, Measurement, Assembly Check N/A Defect Detection, Measurement, Assembly Check N/A
2D Positioning: 0.1 mm 2D Positioning: 0.1 mm
Positioning Accuracy
TM Landmark 3D Positioning (Working Point away from Landmark 100/200/300 mm): 0.10/ 0.20/ 0.33 mm *(3) TM Landmark 3D Positioning (Working Point away from Landmark 100/200/300 mm): 0.10/ 0.20/ 0.33 mm *(3)
Eye in Hand (Built in) Auto-focused color camera with 5M resolution, Working distance 100 mm ~ ∞ Auto-focused color camera with 5M resolution, Working distance 100 mm ~ ∞
Eye to Hand (Optional) Support Maximum 2× GigE 2D cameras or 1× GigE 2D Camera + 1× 3D Camera *(4) Support Maximum 2× GigE 2D cameras or 1× GigE 2D Camera + 1× 3D Camera *(4)

*(1)IP65 robot arm will be available in 2025/Q3 *(1)IP65 robot arm will be available in 2025/Q3
*(2)Please contact sales/agent for detailed specifications. *(2)Please contact sales/agent for detailed specifications.
*(3)The data in this table are measured by TM laboratory and the working distance is 100mm. It should be noted that in practical applications, the relevant values may *(3)The data in this table are measured by TM laboratory and the working distance is 100mm. It should be noted that in practical applications, the relevant values may
be different due to factors such as the on-site ambient light source, object characteristics, and vision programming methods that will affect the change in accuracy. be different due to factors such as the on-site ambient light source, object characteristics, and vision programming methods that will affect the change in accuracy.
*(4)Refer to the official website of TM Plug&Play for camera models compatible to TM Robot. *(4)Refer to the official website of TM Plug&Play for camera models compatible to TM Robot.
 TM AI Cobot Specification

Specification Specification
Model TM5-700 TM5-900 TM5M-700 TM5M-900 TM5X-700 TM5X-900 TM12 TM14 TM16 TM20 TM12M TM14M TM16M TM20M TM12X TM14X TM16X TM20X
Weight 22.1kg 22.6kg 22.1kg 22.6kg 21.8kg 22.3kg 32.8kg 32.5kg 32kg 32.8kg 32.8kg 32.5kg 32kg 32.8kg 32.5kg 32.2kg 31.7kg 32.5kg
Maximum Payload 6kg 4kg 6kg 4kg 6kg 4kg 12kg 14kg 16kg 20kg 12kg 14kg 16kg 20kg 12kg 14kg 16kg 20kg
Reach 746mm 946mm 746mm 946mm 746mm 946mm 1300mm 1100mm 917mm 1300mm 1300mm 1100mm 917mm 1300mm 1300mm 1100mm 917mm 1300mm
J1,J6 +/- 270° +/- 270° +/- 270° +/- 270° +/- 360° +/- 360° +/- 270° +/- 270° +/- 270° +/- 270° +/- 270° +/- 270° +/- 270° +/- 270° +/- 360° +/- 360° +/- 360° +/- 360°
Joint Ranges J2,J4,J5 +/- 180° +/- 180° +/- 180° +/- 180° +/- 360° +/- 360° +/- 180° +/- 180° +/- 180° +/- 180° +/- 180° +/- 180° +/- 180° +/- 180° +/- 360° +/- 360° +/- 360° +/- 360°
J3 +/- 155° +/- 166° +/- 163° +/- 155° +/- 166° +/- 166° +/- 163° +/- 155° +/- 166° +/- 166° +/- 163° +/- 155° +/- 166°
J1,J2 180°/s 120°/s 120°/s 120°/s 90°/s 120°/s 120°/s 120°/s 90°/s 120°/s 120°/s 120°/s 90°/s
J3 180°/s 180°/s 180°/s 180°/s 120°/s 180°/s 180°/s 180°/s 120°/s 180°/s 180°/s 180°/s 120°/s
Speed J4 225°/s 180°/s 150°/s 180°/s 150°/s 180°/s 150°/s 180°/s 150°/s 180°/s 150°/s 180°/s 150°/s
J5 225°/s 180°/s 150°/s 180°/s 180°/s 180°/s 150°/s 180°/s 180°/s 180°/s 150°/s 180°/s 180°/s
J6 225°/s 180°/s 180°/s 180°/s 225°/s 180°/s 180°/s 180°/s 225°/s 180°/s 180°/s 180°/s 225°/s
Max. Speed 4m/s 4m/s
Repeatability +/- 0.05mm +/- 0.1mm
Degree Of Freedom 6 rotating joints 6 rotating joints
Digital In: 16 / Digital Out: 16 Digital In: 16 / Digital Out: 16
Control Box
Analog In: 2 / Analog Out: 1 Analog In: 2 / Analog Out: 1
I/O
Digital In: 4 / Digital Out: 4 Digital In: 4 / Digital Out: 4
Tool Conn.
Analog In: 1 / Analog Out: 0 Analog In: 1 / Analog Out: 0
I/O Power Supply 24V 2.0A for control box, 24V 1.5A for tool 24V 2.0A for control box, 24V 1.5A for tool
IP54 (Robot Arm) IP54 (Robot Arm)
IP Classification
IP32 (Control Box) IP32 (Control Box)
Typical Power Consumption 220 W 300 W
Temperature 0-50°C 0-50°C
Cleanliness ISO Class 3 ISO Class 3
Power Supply 100-240 VAC, 50-60 Hz 22-60 VDC 100-240 VAC, 50-60 Hz 100-240 VAC, 50-60 Hz 22-60 VDC 24-60 VDC 100-240 VAC, 50-60 Hz
I/O Interface 3×COM, 1×HDMI, 3×LAN, 4×USB2.0, 2×USB3.0 3×COM, 1×HDMI, 3×LAN, 4×USB2.0, 2×USB3.0
RS-232, Ethernet, Modbus TCP/RTU (master & slave) RS-232, Ethernet, Modbus TCP/RTU (master & slave)
Communication
Optionally support specified network card of PROFINET, EtherNet/IP, EtherCAT, CC-Link *(1) Optionally support specified network card of PROFINET, EtherNet/IP, EtherCAT, CC-Link *(1)
Programming Environment TMflow (flowchart/script based) TMflow (flowchart/script based)
ISO 13849-1, ISP 10218-1, ISO/TS 15066 ISO 13849-1, ISP 10218-1, ISO/TS 15066
Certification
CE, SEMI S2 (optional) CE, SEMI S2 (optional)
AI & Robot Vision AI & Robot Vision

AI Function Classification, Object Detection, Segmentation, Anomaly Detection, AI OCR Classification, Object Detection, Segmentation, Anomaly Detection, AI OCR

Positioning, 1D/2D Barcode Reading, OCR, Positioning, 1D/2D Barcode Reading, OCR,
Application
Defect Detection, Measurement, Assembly Check Defect Detection, Measurement, Assembly Check
N/A
N/A
2D Positioning: 0.1 mm *(2) 2D Positioning: 0.1 mm *(2)
Positioning Accuracy TM Landmark 3D Positioning TM Landmark 3D Positioning
(Working Point away from Landmark 100/200/300 mm): 0.24/0.53/1.00 mm *(2) (Working Point away from Landmark 100/200/300 mm): 0.24/0.53/1.00 mm *(2)
Eye in Hand (Built in) Auto-focused color camera with 5M resolution, Working distance 100 mm ~ ∞ Auto-focused color camera with 5M resolution, Working distance 100 mm ~ ∞
Eye to Hand (Optional) Support Maximum 2× GigE 2D cameras or 1× GigE 2D Camera + 1× 3D Camera *(3) Support Maximum 2× GigE 2D cameras or 1× GigE 2D Camera + 1× 3D Camera *(3)

*(1)Please contact sales/agent for detailed specifications. *(1)Please contact sales/agent for detailed specifications.
*(2)The data in this table are measured by TM laboratory and the working distance is 100mm. It should be noted that in practical applications, the relevant values may *(2)The data in this table are measured by TM laboratory and the working distance is 100mm. It should be noted that in practical applications, the relevant values may
be different due to factors such as the on-site ambient light source, object characteristics, and vision programming methods that will affect the change in accuracy. be different due to factors such as the on-site ambient light source, object characteristics, and vision programming methods that will affect the change in accuracy.
*(3)Refer to the official website of TM Plug&Play for camera models compatible to TM Robot. *(3)Refer to the official website of TM Plug&Play for camera models compatible to TM Robot.