{"id":130708,"date":"2025-09-03T14:26:12","date_gmt":"2025-09-03T06:26:12","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=130708"},"modified":"2025-09-03T15:09:08","modified_gmt":"2025-09-03T07:09:08","slug":"how-to-use-real-time-remote-control-in-tmflow-2-22","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hans\/docs\/how-to-use-real-time-remote-control-in-tmflow-2-22\/","title":{"rendered":"How to Use Real-Time Remote Control in TMflow 2.22 ?"},"content":{"rendered":"<p>Examples are valid for:<br \/>\nTMflow Software version: 2.22 or above.<br \/>\nTM Robot Hardware version: HW 5.0 or above<br \/>\nOther specific requirements: None<br \/>\nNote that older or newer software versions may have different results.<\/p>\n<hr \/>\n<h1>Purpose<\/h1>\n<ul>\n<li>Provides the fuction to stream data to client in real-time<\/li>\n<li>Provides the function to control robot in real-time<\/li>\n<\/ul>\n<h1>Functions of Real-Time Remote Server<\/h1>\n<p>Motion control : Position control and velocity control<\/p>\n<p>Output control : Analog and digital outputs<\/p>\n<p>Data exchange : Robot state, analog and digital inputs<\/p>\n<p>Frequency : Up to 500Hz for motion or output control, and 50Hz to 500Hz for data exchange<\/p>\n<p>Communication : TCP\/IP<\/p>\n<h1>How to Use<\/h1>\n<p>1.Configure\u00a0Real-Time Remote Server (RTRS)<\/p>\n<p>To use the RTRS, you need to configure the network settings in the TMflow interface.<\/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>Three settings can be configured on this page: Enable RTRS, Enable Motion Command, and 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-130709\" 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_1756879405550.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-130715\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879405550.jpg\" alt=\"\" width=\"963\" height=\"381\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879405550.jpg 963w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879405550-300x119.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879405550-768x304.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756879405550-360x142.jpg 360w\" sizes=\"(max-width: 963px) 100vw, 963px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>2. Connect and Start<\/p>\n<p>When RTRS takes effect and Motion Command is enabled, the robot will be in 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-130721\" 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>Steps to use data exchange :<\/p>\n<ol>\n<li>Enable RTRS<\/li>\n<li>Connect IP with port 5895<\/li>\n<li>Set streaming frequency and dataData packet example :\u00a0<span style=\"color: #339966;\">$TMRTS,8,2,8,50,*58\\r\\n<\/span> (Set streaming frequency to 50Hz)<span style=\"color: #339966;\">$TMRTS,17,1,9,Joint_Angle,*2D\\r\\n<\/span> (Set Joint_Angle as streaming data)<\/li>\n<li>Start data streamingData packet example:<span style=\"color: #339966;\">$TMRTS,5,2,7,1,*61\\r\\n<\/span> (Start data streaming)<\/li>\n<li>Send data or AO\/DO write command if needed\u00a0Data packet example :<span style=\"color: #339966;\">$TMRTS,41,1,1,Ctrl_DO2=1 Ctrl_AO0=1,*D9\\r\\n <\/span>(Set value to Ctrl_DO2 and Ctrl_AO0)<\/li>\n<\/ol>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-130727\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726.jpg\" alt=\"\" width=\"962\" height=\"132\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726.jpg 962w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726-300x41.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726-768x105.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880114726-360x49.jpg 360w\" sizes=\"(max-width: 962px) 100vw, 962px\" \/><\/a><\/p>\n<p>Steps to use robot control<\/p>\n<ol>\n<li>Enable RTRS and Motion Command<\/li>\n<li>Set up data exchange to get the robot&#8217;s state<\/li>\n<li>Connect IP with port 5896<\/li>\n<li>Set motion control settingsData packet example :\u00a0<span style=\"color: #339966;\">$TMRTC,18,5,8,S J 150 1 1000,*AF\\r\\n<\/span> (Set the motion control to position mode and joint mode, with a time to top speed of 150ms, a gain of 1, and a control interval of 1000ms.)<\/li>\n<li>Start motion control\u00a0Data packet example :\u00a0<span style=\"color: #339966;\">$TMRTC,5,8,7,1,*7B\\r\\n<\/span> (Start motion control)<\/li>\n<li>Send motion command\u00a0Data packet example :<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<\/ol>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-130733\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442.jpg\" alt=\"\" width=\"985\" height=\"151\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442.jpg 985w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442-300x46.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442-768x118.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/09\/messageImage_1756880350442-360x55.jpg 360w\" sizes=\"(max-width: 985px) 100vw, 985px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for: TMflow Software version: 2.22 o [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4307,4700],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>How to Use Real-Time Remote Control in TMflow 2.22 ? | \u8fbe\u660e\u673a\u5668\u4eba<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How to Use Real-Time Remote Control in TMflow 2.22 ? | \u8fbe\u660e\u673a\u5668\u4eba\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for: TMflow Software version: 2.22 o [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.tm-robot.com.cn\/zh-hans\/docs\/how-to-use-real-time-remote-control-in-tmflow-2-22\/\" \/>\n<meta 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