Master-Control Communication Setup

Connect the monitor, keyboard, and mouse to the controller through the controller’s USB and HDMI ports accordingly.

Click , and wait for the corresponding robot ID to appear in the window.

Connect the robot in any of the following ways:

Enter your ID and password in the Log in window, and click OK. You can use the default ID administrator to log in without a password.

Click Get Control to control the robot.

Plug the USB flash drive into the USB port of the IPC.

Rename the USB flash drive to TMROBOT, or else the USB flash drive cannot be recognized by the robot controller.

Copy the program files to the USB flash drive. The files are stored in Mech-Center/Robot_Server/Robot_FullControl/tm in the installation directory where Mech-Vision and Mech-Viz are installed.

Plug the USB flash drive with the program files into the USB port of the robot controller.

Open the TMflow software, click the icon in the upper left corner of the window, and select System  Backup\Restore.

Click Backup, enter a File Name for the backup file, and then click Backup.

Open the TMflow software, click and then select System.

Click Import/Export.

Click Import

A Robot List window will pop up, and then select the program file TM000249_AC173610 and click OK.

Click Project, and select mmMain.zip in the Select files, and then it will be displayed in the Selected files panel on the right.

Click Ethernet Slave, and select Transmit/mmEthernet, and then it will be displayed in the Selected files panel on the right.

Click Import

After the files have been imported successfully, click OK in the “Import complete” window.

Unplug the USB flash drive from the IPC after you have completed the above steps.

Select Setting  Connection.

Select Ethernet Slave  Data Table Setting.

Set the Communicate Mode to JSON, and click Open.

Select mmEthernet in the pop-up Save Transmit File Name window, and click OK.

Click ← in the Receive/Send Data Table Setting window.

Click Enable.

Select Run Setting  mmMain.

Click Yes in the pop-up window to set mmMain as the current project.

Press the M/A button on the Robot Stick until you hear a beep, which suggests that the Manual mode has been disabled. Press the buttons + - + + - in sequence, and the blue Auto light will be on, suggesting that the robot has been switched to the Auto mode.

Then press the Run button on the Robot Stick, and the program will run after three beeps.

Open Mech-Viz, press Ctrl+N on the keyboard to create a new project. Select the robot model corresponding to your real robot brand and model on the interface as shown below.

Press Ctrl+S and create or select a folder to save the project.

Right-click the project name in the left panel in Mech-Viz and select Autoload Project.

Click Master-Control Robot on the toolbar of Mech-Viz.

Input the IP address of the real robot in Robot IP address (the IP address in the picture is only an example). Click Connect the robot.

In the toolbar of Mech-Viz, change the Vel. (velocity) and Acc. (acceleration) parameters to 5%.

Click Sync Robot in the toolbar, and you can synchronize the poses of the simulated robot in the 3D simulation space with the poses of the real robot. Then click Sync Robot again to unselect it.

In the Robot tab, slightly adjust the value of J1, for example, from 0˚ to 3˚. This operation will move the simulated robot.

Click Move real robot and check if the real robot has moved. If the real robot has reached the joint positions set for the simulated robot, the master-control communication is working.

Click , and select System  Network.

Set the IP Address and Subnet Mask in the Network setting window. Please make sure that IP addresses of the robot and the IPC belong to the same subnet.