{"id":130741,"date":"2025-09-03T14:26:12","date_gmt":"2025-09-03T06:26:12","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/how-to-use-real-time-remote-control-in-tmflow-2-22\/"},"modified":"2025-09-03T14:52:07","modified_gmt":"2025-09-03T06:52:07","slug":"how-to-use-real-time-remote-control-in-tmflow-2-22","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/zh-hant\/docs\/how-to-use-real-time-remote-control-in-tmflow-2-22\/","title":{"rendered":"\u5982\u4f55\u5728 TMflow 2.22 \u4e2d\u4f7f\u7528\u5373\u6642\u9060\u7aef\u63a7\u5236 (Real-Time Remote Control)"},"content":{"rendered":"<p>\u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6:<br \/>\nTMflow \u8edf\u9ad4\u7248\u672c\uff1a 2.22 \u6216\u4ee5\u4e0a\u3002<br \/>\nTM \u624b\u81c2\u786c\u9ad4\u7248\u672c\uff1a HW 5.0 \u6216\u4ee5\u4e0a<br \/>\n\u5176\u4ed6\u7279\u6b8a\u8edf\u786c\u9ad4\u9700\u6c42\uff1a \u7121<br \/>\n\u8acb\u6ce8\u610f\uff0c\u65b0\u820a\u7248\u672c\u4e4b\u5dee\u7570\u53ef\u80fd\u5c0e\u81f4\u64cd\u4f5c\u4ecb\u9762\u3001\u6b65\u9a5f\u4e0a\u6703\u6709\u6240\u5dee\u7570\u3002<br \/>\n\u6240\u6709\u7248\u672c\u7686\u9069\u7528<\/p>\n<hr \/>\n<h1>\u529f\u80fd\u76ee\u7684<\/h1>\n<ul>\n<li>\u63d0\u4f9b\u5c07\u8cc7\u6599\u5373\u6642\u4e32\u6d41\u81f3\u5ba2\u6236\u7aef\u7684\u529f\u80fd<\/li>\n<li>\u63d0\u4f9b\u5373\u6642\u63a7\u5236\u6a5f\u5668\u4eba\u7684\u529f\u80fd<\/li>\n<\/ul>\n<h1>\u5373\u6642\u9060\u7aef\u4f3a\u670d\u5668<span lang=\"EN-US\"> (RTRS) <\/span>\u529f\u80fd<\/h1>\n<ul>\n<li><strong>\u904b\u52d5\u63a7\u5236<\/strong>\uff1a\u4f4d\u7f6e\u63a7\u5236\u3001\u901f\u5ea6\u63a7\u5236<\/li>\n<li><strong>\u8f38\u51fa\u63a7\u5236<\/strong>\uff1a\u985e\u6bd4\u8207\u6578\u4f4d\u8f38\u51fa<\/li>\n<li><strong>\u8cc7\u6599\u4ea4\u63db<\/strong>\uff1a\u6a5f\u5668\u4eba\u72c0\u614b\u3001\u985e\u6bd4\u8207\u6578\u4f4d\u8f38\u5165<\/li>\n<li><strong>\u983b\u7387<\/strong>\uff1a\u904b\u52d5\u6216\u8f38\u51fa\u63a7\u5236\u6700\u9ad8\u53ef\u9054 500Hz\uff0c\u8cc7\u6599\u4ea4\u63db\u983b\u7387 50Hz ~ 500Hz<\/li>\n<li><strong>\u901a\u8a0a\u65b9\u5f0f<\/strong>\uff1aTCP\/IP<\/li>\n<\/ul>\n<h1>\u4f7f\u7528\u65b9\u5f0f<\/h1>\n<p>1.\u8a2d\u5b9a Real-Time Remote Server (RTRS)<\/p>\n<p>\u8981\u4f7f\u7528 RTRS, \u9700\u8981\u5148\u5728 TMflow \u4ecb\u9762\u4e2d\u8a2d\u5b9a\u7db2\u8def .<\/p>\n<p>IP&amp; RTRS settings : TMflow &#8211;&gt; Configuration &#8211;&gt; Remote Control Settings&#8211;&gt; RTRS<\/p>\n<p>Port : 5895 (data exchange), 5896 (motion control)<\/p>\n<p>\u53ef\u8a2d\u5b9a\u9078\u9805 \uff1a Enable RTRS\u3001 Enable Motion Command\u3001and IP Settings. <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-130711\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621.jpg\" alt=\"\" width=\"785\" height=\"441\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621.jpg 785w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621-768x431.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879342621-360x202.jpg 360w\" sizes=\"(max-width: 785px) 100vw, 785px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661.jpg\"><img loading=\"lazy\" class=\"aligncenter wp-image-130743 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661.jpg\" alt=\"\" width=\"982\" height=\"347\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661.jpg 982w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661-300x106.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661-768x271.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881533661-360x127.jpg 360w\" sizes=\"(max-width: 982px) 100vw, 982px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>2. \u9023\u7dda\u8207\u555f\u52d5<\/p>\n<p>\u7576\u00a0RTRS \u751f\u6548\u4e14\u555f\u7528 Motion Command \u5f8c\uff0c\u6a5f\u5668\u4eba\u5c07\u9032\u5165 Remote Control Mode<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-130723\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867.jpg\" alt=\"\" width=\"795\" height=\"448\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867.jpg 795w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879481867-360x203.jpg 360w\" sizes=\"(max-width: 795px) 100vw, 795px\" \/><\/a><\/p>\n<p>\u8cc7\u6599\u4ea4\u63db\u6d41\u7a0b :<\/p>\n<ol>\n<li>\u555f\u7528 RTRS<\/li>\n<li>\u4ee5 IP \u9023\u7dda\u81f3\u57e0\u865f 5895<\/li>\n<li>\u8a2d\u5b9a\u4e32\u6d41\u983b\u7387\u8207\u8cc7\u6599\u9805\u76ee\n<ul>\n<li>Data packet example :<\/li>\n<li><span style=\"color: #339966;\">$TMRTS,8,2,8,50,*58\\r\\n<\/span> (Set streaming frequency to 50Hz)<\/li>\n<li><span style=\"color: #339966;\">$TMRTS,17,1,9,Joint_Angle,*2D\\r\\n<\/span> (Set Joint_Angle as streaming data)<\/li>\n<\/ul>\n<\/li>\n<li>\u555f\u52d5\u8cc7\u6599\u4e32\u6d41\n<ul>\n<li>Data packet example:<\/li>\n<li><span style=\"color: #339966;\">$TMRTS,5,2,7,1,*61\\r\\n<\/span> (Start data streaming)<\/li>\n<\/ul>\n<\/li>\n<li>\u5982\u679c\u50b3\u9001\u8cc7\u6599\u6216 AO\/DO \u5beb\u5165\u6307\u4ee4\uff0c\u8acb\u4e0b\u6307\u4ee4\n<ul>\n<li>Data packet example :<\/li>\n<li><span style=\"color: #339966;\">$TMRTS,41,1,1,Ctrl_DO2=1 Ctrl_AO0=1,*D9\\r\\n <\/span>(Set value to Ctrl_DO2 and Ctrl_AO0)<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487.jpg\"><img loading=\"lazy\" class=\"aligncenter wp-image-130749 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487.jpg\" alt=\"\" width=\"954\" height=\"143\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487.jpg 954w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487-300x45.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487-768x115.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756881964487-360x54.jpg 360w\" sizes=\"(max-width: 954px) 100vw, 954px\" \/><\/a><\/p>\n<p>\u6a5f\u5668\u4eba\u63a7\u5236\u6d41\u7a0b<\/p>\n<ol>\n<li>\u555f\u7528 RTRS \u8207 Motion Command<\/li>\n<li>\u8a2d\u5b9a\u8cc7\u6599\u4ea4\u63db\u4ee5\u7372\u53d6\u6a5f\u5668\u4eba\u72c0\u614b<\/li>\n<li>\u4ee5 IP \u9023\u7dda\u81f3\u57e0\u865f 5896<\/li>\n<li>\u8a2d\u5b9a\u904b\u52d5\u63a7\u5236\u53c3\u6578\n<ul>\n<li>Data packet example :<\/li>\n<li><span style=\"color: #339966;\">$TMRTC,18,5,8,S J 150 1 1000,*AF\\r\\n<\/span> (Set the motion control to position mode and joint mode, with a time to top speed of 150ms, a gain of 1, and a control interval of 1000ms.)<\/li>\n<\/ul>\n<\/li>\n<li>\u555f\u52d5\u904b\u52d5\u63a7\u5236\n<ul>\n<li>Data packet example :<\/li>\n<li><span style=\"color: #339966;\">$TMRTC,5,8,7,1,*7B\\r\\n<\/span> (Start motion control)<\/li>\n<\/ul>\n<\/li>\n<li>\u50b3\u9001\u904b\u52d5\u6307\u4ee4\n<ul>\n<li>Data packet example :<\/li>\n<li><span style=\"color: #339966;\">$TMRTC,28,0,1, { 10.8587, -148.9658, 45.7319, 143.9948, 18.7473, 33.8587},*7B\\r\\n<\/span> \u00a0(Set the control target to the following joint angles: J1 at 10.8587\u00b0, J2 at -148.9658\u00b0, J3 at 45.7319\u00b0, J4 at 143.9948\u00b0, J5 at 18.7473\u00b0, and J6 at 33.8587\u00b0)<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767.jpg\"><img loading=\"lazy\" class=\"aligncenter wp-image-130755 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767.jpg\" alt=\"\" width=\"974\" height=\"157\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767.jpg 974w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767-300x48.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767-768x124.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756882208767-360x58.jpg 360w\" sizes=\"(max-width: 974px) 100vw, 974px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6: TMflow \u8edf\u9ad4\u7248\u672c\uff1a 2.22 \u6216\u4ee5\u4e0a\u3002 TM \u624b\u81c2\u786c\u9ad4\u7248\u672c\uff1a HW 5.0 [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4321,4701],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - 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