{"id":46851,"date":"2021-05-27T17:28:16","date_gmt":"2021-05-27T09:28:16","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=46851"},"modified":"2022-08-05T10:48:54","modified_gmt":"2022-08-05T02:48:54","slug":"using-tmflow-controller","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/using-tmflow-controller\/","title":{"rendered":"Using TMflow Controller"},"content":{"rendered":"<p>In TMflow, the controller can control the robot&#8217;s motion (both cartesian space and joint space), control box I\/O, free button setting.<\/p>\n<ol>\n<li>Joint Space Control: Users can jog the robot&#8217;s 6 joints by using &#8216;Direct Move&#8217; <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/directmove.png\"><img loading=\"lazy\" class=\" wp-image-46867 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/directmove.png\" alt=\"\" width=\"112\" height=\"45\" \/><\/a>or &#8216;Incremental Jog&#8217; <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/plus.png\"><img loading=\"lazy\" class=\" wp-image-46872 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/plus.png\" alt=\"\" width=\"50\" height=\"40\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/minus.png\"><img loading=\"lazy\" class=\" wp-image-46877 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/minus.png\" alt=\"\" width=\"48\" height=\"47\" \/><\/a>\n<ul>\n<li>Direct Move will directly move to the target degree entered in the textbox, the speed can be adjusted.<\/li>\n<li>Incremental Jog can modify Jog Distance and Speed.<img loading=\"lazy\" class=\"aligncenter wp-image-46884\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2.png\" alt=\"\" width=\"375\" height=\"531\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2.png 604w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2-212x300.png 212w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2-600x850.png 600w\" sizes=\"(max-width: 375px) 100vw, 375px\" \/><\/li>\n<\/ul>\n<\/li>\n<li>Base (Cartesian Space) Control: Users can move the robot by assigning a target position in cartesian space (with respect to Robotbase, vision base, custom base)\n<ul>\n<li>\n<blockquote><p>IMPORTANT: The Base tab is used to move to a specified target with respect to the specified Base.Two modes are the same with joint space control.<\/p><\/blockquote>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-46884\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2.png\" alt=\"\" width=\"336\" height=\"476\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2.png 604w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2-212x300.png 212w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-2-600x850.png 600w\" sizes=\"(max-width: 336px) 100vw, 336px\" \/><\/a>\n<\/li>\n<\/ul>\n<\/li>\n<li>Tool: Move according to the <strong>Tool Coordinate.<\/strong><\/li>\n<li><img loading=\"lazy\" class=\"aligncenter wp-image-46901\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-3.png\" alt=\"\" width=\"392\" height=\"556\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-3.png 606w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-3-211x300.png 211w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-3-600x851.png 600w\" sizes=\"(max-width: 392px) 100vw, 392px\" \/>I\/O: Click the I\/O tab to open the I\/O control page. In the IO control, the output value of each I\/O can be controlled independently, including Control Box I\/O, End Module I\/O, Camera Module I\/O, and Safety Connector I\/O.<img loading=\"lazy\" class=\"aligncenter wp-image-46906\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-4.png\" alt=\"\" width=\"356\" height=\"499\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-4.png 612w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-4-214x300.png 214w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2021\/05\/controller-4-600x841.png 600w\" sizes=\"(max-width: 356px) 100vw, 356px\" \/>NOTE:\n<ul>\n<li>Safety Connector IO is for HW 3.2 or newer exclusive.<\/li>\n<li>Safety Connector IO is read-only and users cannot change the state in TMflow.<\/li>\n<\/ul>\n<\/li>\n<li><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/using-free-button-and-customize-settings\/\">FreeBot<\/a><\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>In TMflow, the controller can control the robot&#8217;s motion (both cartesian space and joint space), control box I\/O, free button setting. Joint Space Control: Users can jog the robot&#8217;s 6 joints by using &#8216;Direct Move&#8217; or &#8216;Incremental Jog&#8217; Direct Move will directly move to the target degree entered in the textbox, the speed can be [&hellip;]<\/p>\n","protected":false},"author":3205,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4153],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Using TMflow Controller | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Using TMflow Controller | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"In TMflow, the controller can control the robot&#8217;s motion (both cartesian space and joint space), control box I\/O, free button setting. 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