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TM Robot Control

Control and monitor OMRON TM collaborative robots with motion commands, status feedback, safety controls, camera support, and IO handling.

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Install

openclaw skills install tm-robot

TM Robot Skill

Version: 1.1.0
Author: RobotQu
License: MIT

Description

OMRON TM 协作机器人控制技能，支持状态监控、运动控制、安全功能等。

Features

  • ✅ 状态监控（关节、位姿、力矩、错误码）
  • ✅ 运动控制（关节 PTP、直线 LIN、圆弧 ARC）
  • ✅ 安全功能（急停、报警复位）
  • ✅ 相机支持（手眼相机位姿）
  • ✅ IO 控制（DI 读取）

Requirements

  • Python >= 3.6
  • techmanpy >= 1.0.0

Usage

from tm_robot import TMRobot

robot = TMRobot("192.168.1.10")
await robot.connect()

# 获取状态
joints = await robot.get_joints()
pose = await robot.get_pose()

# 运动控制
await robot.move_joint([0, 0, 90, 0, 90, 0], speed=50)
await robot.move_line([100, 0, 0], speed=50)

await robot.disconnect()

Testing

  • 现场测试通过 (17/17)
  • 测试环境：OMRON TM5M-700, TMflow 1.80.5300

Support