pytmrobot 0.2.0

Python API for controlling Techman (TM) robots via Listen Node — no TMScript required

pytmrobot

Python API for Techman (TM) Robots — control your TM robot without writing TMScript.

繁體中文說明文件 | Changelog

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Features

Category	Capabilities
Motion	PTP, Line, Circle, relative moves, PVT trajectories
I/O	Digital / analog output & input, batch read
State	TCP position, joint angles, force, speed, snapshot
Force sensing	TouchStop, Compliance, Force control (FTSensor)
Communication	Modbus TCP read/write with named Presets
Vision	Trigger vision jobs, read output poses
HMI	Operator dialogs (choice + popup)
Multi-robot	Each TMRobot instance is fully independent — run 12+ in parallel

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Requirements

• Python 3.10+
• TM Robot running TMflow 1.80+ with a Listen Node in the flow
• Network access to port 5890 on the robot controller

No external dependencies — only the Python standard library.

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Installation

pip install pytmrobot

Or install from source:

git clone https://github.com/harry-techman/pytmrobot.git
cd pytmrobot
pip install -e .

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Quick Start

from pytmrobot import TMRobot, CartPoint

with TMRobot("192.168.1.101") as robot:

    home = CartPoint(400, -100, 500, 180, 0, 90)   # X, Y, Z, Rx, Ry, Rz
    pick = CartPoint(400, -100, 280, 180, 0, 90)

    robot.move.ptp(home, speed=30)       # point-to-point move, 30 %
    robot.move.ptp(pick, speed=10)       # slow approach

    robot.io.set_do(2, True)             # close gripper (DO[2] = 1)
    robot.sleep(500)                     # wait 500 ms on robot side

    robot.move.ptp(home, speed=30)
    robot.io.set_do(2, False)            # open gripper

    pos = robot.state.tcp_position       # read current TCP pose
    print(f"Done — X={pos[0]:.1f}  Y={pos[1]:.1f}  Z={pos[2]:.1f} mm")

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Sub-controllers

Property	Description
robot.move	PTP / Line / Circle / relative / PVT
robot.io	DO, AO, DI, AI, batch read
robot.state	TCP position, joints, force, speed, snapshot
robot.decision	ask() choice dialog, popup() confirmation
robot.modbus	Modbus TCP connect / preset / read / write
robot.touchstop	TouchStop — detect contact and stop
robot.compliance	Compliance — compliant motion until resistance
robot.force	Force control with external FTSensor
robot.vision	Trigger vision jobs, get output pose

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More Examples

Read robot state

s = robot.state.snapshot()
print(s.tcp_position)   # (X, Y, Z, Rx, Ry, Rz)
print(s.joint_angles)   # (J1 … J6)
print(s.tcp_force_3d)   # resultant force N

TouchStop — find workpiece surface

result = robot.touchstop.run(
    direction=32,    # Z−  (1=X+, 2=X−, 4=Y+, 8=Y−, 16=Z+, 32=Z−)
    distance=50.0,   # max travel mm
    force=5.0,       # contact threshold N
    speed=10,
)
if result == 5:      # Resisted
    z = robot.touchstop.get_stopped_pos()[2]
    print(f"Surface at Z = {z:.2f} mm")

Multi-robot (12 concurrent)

from concurrent.futures import ThreadPoolExecutor

robots = [TMRobot(f"192.168.1.{100+i}") for i in range(12)]
for r in robots:
    r.connect()

with ThreadPoolExecutor(max_workers=12) as pool:
    futures = [pool.submit(run_task, r) for r in robots]
    for f in futures:
        f.result()

for r in robots:
    r.disconnect()

Modbus TCP

robot.modbus.connect("192.168.1.10")
robot.modbus.preset("light", 1, "DO", 7206, "bool")
robot.modbus.write("light", True)
print(robot.modbus.read_bool("light"))
robot.modbus.disconnect()

Vision-guided pick

if robot.vision.do_job("DetectPart"):
    pose = robot.vision.get_output_pose("DetectPart", "ArmPose_0")
    robot.move.ptp(CartPoint(*pose), speed=20)

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Running Tests

pip install -e ".[dev]"
python -m pytest tests/ -v

All 259 tests run without a physical robot (mock-based unit tests).

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Documentation

Full API reference and tutorials (繁體中文): docs/wiki.md

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License

MIT — see LICENSE.