| Model | TM16 | TM20 | TM16M | TM20M |
| Weight | 32kg | 32.8kg | 32kg | 32.8kg |
| Payload | 16kg | 20kg | 16kg | 20kg |
| Reach | 917mm | 1300mm | 917mm | 1300mm |
| Max. PTP Speed | 1.1m/s | 1.3m/s | 1.1m/s | 1.3m/s |
| Working range of joint J1 | +/-270° | |||
| Working range of joint J2,J4, J5 | +/-180° | |||
| Working range of joint J3 | +/-155° | +/-166° | +/-155° | +/-166° |
| Working range of joint J6 | +/-270° | |||
| Max. speed of joint J1, J2 | 120°/s | 90°/s | 120°/s | 90°/s |
| Max. speed of joint J3 | 180°/s | 120°/s | 180°/s | 120°/s |
| Max. speed of joint J4 | 180°/s | 150°/s | 180°/s | 150°/s |
| Max. speed of joint J5 | 180°/s | |||
| Max. speed of joint J6 | 180°/s | 225°/s | 180°/s | 225°/s |
| Repeatability | +/-0.1mm | |||
| Controller I/O ports |
Digital input: 16 Digital output: 16 Analog input: 02 Analog output: 01 |
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| Tool connection I/O ports |
Digital input: 4 Digital output: 4 Analog input: 1 Analog output: 0 |
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| I/O power supply |
Controller: 24V 2.0A Tool: 24V 1.5A |
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| Protection level |
Controller: IP32 Robot arm: IP54 |
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| Power supply | 100-240VAC, 50-60Hz | 22-60VDC | ||
| Power consumption | 300W | |||
| I/O interface | 3 x Com; 1 x HDMI; 3 x Lan; 4 x USB2.0; 2 x USB3.0 | |||
| Communication | RS232, Ethernet, Modbus TCP/RTU (Master & Slave), PROFINET (optional), EtherNet/IP (optional) | |||
| Program environment | TMflow, flowchart base | |||
| Certification | CE (by regional model), SEMI S2 (optional) | |||
| Variation models | X: without hand eye camera; SEMI: SEMI S2 certified | |||
| AI & Vision*¹ | ||||
| AI Function | Classification, Object Detection, Segmentation | |||
| Application | Positioning, 1D/2D Barcode Reading, OCR, Defect Detection, Measurement, Assembly Check | |||
| Positioning Accuracy |
2D Positioning: 0.1mm*² TM Landmark 3D Positioning (Working Point away from TM Landmark 100/200/300mm): 0.24/0.53/1.00 mm*² |
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| Eye in hand (built-in) | Auto-focused color camera with 5M resolution, Working distance 100mm ~ ∞ | |||
| Eye to hand (optional) | Support maximum 2 x GigE 2D cameras or 1 x GigE 2D camera và 1 x 3D camera*³ | |||
*¹ No built-in vision robot arms TM16X, TM20X are also available.
*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.
*³ Refer to our website for camera models compatible to Techman AI Cobot.
