Control and monitor OMRON TM collaborative robots with motion commands, status feedback, safety controls, camera support, and IO handling.
# 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
```python
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
- Website: https://robotqu.com
- Forum: https://robotqu.mbbs.cc
don't have the plugin yet? install it then click "run inline in claude" again.