Examples are valid for:
TMflow Software version: 2.22 or above.
TM Robot Hardware version: HW 5.0 or above
Other specific requirements: None
Note that older or newer software versions may have different results.

Purpose #

• Provides the fuction to stream data to client in real-time
• Provides the function to control robot in real-time

Functions of Real-Time Remote Server #

Motion control : Position control and velocity control

Output control : Analog and digital outputs

Data exchange : Robot state, analog and digital inputs

Frequency : Up to 500Hz for motion or output control, and 50Hz to 500Hz for data exchange

Communication : TCP/IP

How to Use #

1.Configure Real-Time Remote Server (RTRS)

To use the RTRS, you need to configure the network settings in the TMflow interface.

IP& RTRS settings : TMflow –> Configuration –> Remote Control Settings–> RTRS

Port : 5895 (data exchange), 5896 (motion control)

Three settings can be configured on this page: Enable RTRS, Enable Motion Command, and IP Settings.

2. Connect and Start

When RTRS takes effect and Motion Command is enabled, the robot will be in Remote Control Mode.

Steps to use data exchange :

1. Enable RTRS
2. Connect IP with port 5895
3. Set streaming frequency and dataData packet example : $TMRTS,8,2,8,50,*58\r\n (Set streaming frequency to 50Hz)$TMRTS,17,1,9,Joint_Angle,*2D\r\n (Set Joint_Angle as streaming data)
4. Start data streamingData packet example:$TMRTS,5,2,7,1,*61\r\n (Start data streaming)
5. Send data or AO/DO write command if needed Data packet example :$TMRTS,41,1,1,Ctrl_DO2=1 Ctrl_AO0=1,*D9\r\n (Set value to Ctrl_DO2 and Ctrl_AO0)

Steps to use robot control

1. Enable RTRS and Motion Command
2. Set up data exchange to get the robot’s state
3. Connect IP with port 5896
4. Set motion control settingsData packet example : $TMRTC,18,5,8,S J 150 1 1000,*AF\r\n (Set the motion control to position mode and joint mode, with a time to top speed of 150ms, a gain of 1, and a control interval of 1000ms.)
5. Start motion control Data packet example : $TMRTC,5,8,7,1,*7B\r\n (Start motion control)
6. Send motion command Data packet example :$TMRTC,28,0,1, { 10.8587, -148.9658, 45.7319, 143.9948, 18.7473, 33.8587},*7B\r\n  (Set the control target to the following joint angles: J1 at 10.8587°, J2 at -148.9658°, J3 at 45.7319°, J4 at 143.9948°, J5 at 18.7473°, and J6 at 33.8587°)