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      "joint6Torque": 15, 
      "motionSpeed": 0, 
      "ptpSpeed": 0, 
      "minimumPossibleContactArea": 0.74, 
      "gSensor": false, 
      "decelerationTime": 150 
    }, 
    "others1": { 
      "currentTime": "2021-4-6 17:25:48", 
      "lastErrorTime": "0-0-0 0:0:0", 
      "ipcConnectNumber": 48 
    } 
  } 
] 
 
 Sockets 
Arguments 
Name 
Required Data Type 
Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. 
Use 1 for the target as a TM Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 22. 
TMRobotNames 
No 
string array 
TM Robot name list. If the field is 
null, an empty array, or no field, it 
returns every TM Robot in 
connection. 
 
Request 
{ 
  
"Token":"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzdWIiOiJBZG1pbiIsImp0aSI6IjUxOTQ2Nj
MzLTM2NTgtNDYzNC1hZTYzLTQzNmRjMDIzMjFkNyIsInJvbGVzIjpbIkFkbWluIiwiVXNlcnMiXS
wibmJmIjoxNjA3OTA4MDY0LCJleHAiOjE2MDc5MTE2NjQsImlhdCI6MTYwNzkwODA2NCwiaX
NzIjoiVE1NIn0.YfbC4sa3ICavXHPCD82r2B3kcUFYRtZ2SOGH_k1tGH8", 
  "ActionTarget":1, 
  "TMRobotActionParameter":{ 
    "RobotActionType":22, 


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    "TMRobotNames":["TM000000"] 
    } 
} 
 
Response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 1, 
  "TMRobotActionReturn": { 
    "RobotActionType": 22, 
    "TMRobotInfosDetail": [ 
      { 
        "TMRobotInfo": { 
          "TMRobotName": "TM000000", 
          "IP": "192.168.132.200", 
          "Mode": 1, 
          "ControlBoxSN": "BC1924002", 
          "Model": "TM5-700ACA", 
          "EnabledHMIControl": true, 
          "HasRightControl": true, 
          "EnabledAutoRemoteMode": true, 
          "EnabledSpeedControl": false, 
          "TMRobotLIghtColor": 3, 
          "TMRobotStatus": 3, 
          "ProjectSpeed": 100, 
          "HMIVersion": "1.80.5400", 
          "DefaultProjectName": "API_Test_1_80", 
          "StatusUpdateTime": "2021/4/6 銝
?? 04:26:22", 
          "ErrorCode": "" 
        }, 
        "RobotStatus2": { 
          "AutoRemoteModeEnable": true, 
          "AutoRemoteModeActive": true, 
          "SpeedAdjustment": false 
        }, 


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        "ControlBoxDIO": { 
          "DI0": false, 
          "DI1": false, 
          "DI2": false, 
          "DI3": false, 
          "DI4": false, 
          "DI5": false, 
          "DI6": false, 
          "DI7": false, 
          "DI8": false, 
          "DI9": false, 
          "DI10": false, 
          "DI11": false, 
          "DI12": false, 
          "DI13": false, 
          "DI14": false, 
          "DI15": false 
        }, 
        "ControlBoxAIO": { 
          "AO0": -10.0 
        }, 
        "RobotCoordinateCurrentBaseWithoutTool": { 
          "XBasewithouttool": 184.00572, 
          "YBasewithouttool": -376.85797, 
          "ZBasewithouttool": 310.54944, 
          "RxBasewithouttool": 177.61002, 
          "RyBasewithouttool": -2.0264668, 
          "RzBasewithouttool": -8.918276 
        }, 
        "RobotCoordinateTouchStopCurrentBaseWithoutTool": { 
          "XBasewithouttool": 0.0, 
          "YBasewithouttool": 0.0, 
          "ZBasewithouttool": 0.0, 
          "RxBasewithouttool": 0.0, 
          "RyBasewithouttool": 0.0, 
          "RzBasewithouttool": 0.0 


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        }, 
        "RobotCoordinateTouchStopCurrentBaseWithTool": { 
          "XBasewithtool": 0.0, 
          "YBasewithtool": 0.0, 
          "ZBasewithtool": 0.0, 
          "RxBasewithtool": 0.0, 
          "RyBasewithtool": 0.0, 
          "RzBasewithtool": 0.0 
        }, 
        "RobotCoordinateTouchStopJoint": { 
          "Joint1": 0.0, 
          "Joint2": 0.0, 
          "Joint3": 0.0, 
          "Joint4": 0.0, 
          "Joint5": 0.0, 
          "Joint6": 0.0 
        }, 
        "RobotCoordinateTouchStopRobotBaseWithoutTool": { 
          "XBasewithtool": 0.0, 
          "YBasewithtool": 0.0, 
          "ZBasewithtool": 0.0, 
          "RxBasewithtool": 0.0, 
          "RyBasewithtool": 0.0, 
          "RzBasewithtool": 0.0 
        }, 
        "RobotCoordinateTouchStopRobotBaseWithTool": { 
          "XBasewithouttool": 0.0, 
          "YBasewithouttool": 0.0, 
          "ZBasewithouttool": 0.0, 
          "RxBasewithouttool": 0.0, 
          "RyBasewithouttool": 0.0, 
          "RzBasewithouttool": 0.0 
        }, 
        "CollaborativeMode": { 
          "TCPSpeed": 0.1, 
          "TCPSpeedUnderHandGuideMode": 1.5, 


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          "TCPForce": 130.0, 
          "Joint1Speed": 190.0, 
          "Joint2Speed": 190.0, 
          "Joint3Speed": 190.0, 
          "Joint4Speed": 235.0, 
          "Joint5Speed": 235.0, 
          "Joint6Speed": 235.0, 
          "Joint1Torque": 65.0, 
          "Joint2Torque": 65.0, 
          "Joint3Torque": 65.0, 
          "Joint4Torque": 15.0, 
          "Joint5Torque": 15.0, 
          "Joint6Torque": 15.0, 
          "MotionSpeed": 180.0, 
          "PTPSpeed": 8.1, 
          "MinimumPossibleContactArea": 0.74, 
          "GSensor": true, 
          "DecelerationTime": 150 
        }, 
        "Others1": { 
          "CurrentTime": "2021-4-6 16:30:54", 
          "LastErrorTime": "2021-4-6 11:37:56", 
          "IPCConnectNumber": 54 
        } 
      } 
    ] 
  } 
} 
 
 gRPC 
Arguments 
Name 
Required Data Type 
Description 
TMRobotNames No 
string array TM Robot name list. If the value is an empty 
array, it will return all TM Robot custom 
information. 
 
Request 


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Function Name /GrpcServerRobot/GetTMRobotsDetail 
{ 
  "TMRobotNames": [ 
    "TM000000", 
    "NEX613-20200518" 
  ] 
} 
 
Response 
[ 
  { 
    "tmRobotName": "NEX613-20200518", 
    "ip": "192.168.132.70", 
    "mode": 2, 
    "controlBoxSN": "", 
    "model": "TM5-700-CPR1-B", 
    "enabledHMIControl": true, 
    "hasRightControl": true, 
    "enabledAutoRemoteMode": false, 
    "enabledSpeedControl": false, 
    "tmRobotLIghtColor": 5, 
    "tmRobotStatus": 3, 
    "projectSpeed": 5, 
    "hmiVersion": "1.80.3300", 
    "defaultProjectName": "Q123", 
    "statusUpdateTime": "2021/4/6 下午 05:03:15", 
    "errorCode": "" 
  }, 
  { 
    "tmRobotName": "TM000000", 
    "ip": "192.168.132.200", 
    "mode": 1, 
    "controlBoxSN": "BC1924002", 
    "model": "TM5-700ACA", 
    "enabledHMIControl": true, 
    "hasRightControl": true, 


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    "enabledAutoRemoteMode": true, 
    "enabledSpeedControl": false, 
    "tmRobotLIghtColor": 3, 
    "tmRobotStatus": 3, 
    "projectSpeed": 5, 
    "hmiVersion": "1.80.5400", 
    "defaultProjectName": "000_0", 
    "statusUpdateTime": "2021/4/6 下午 05:08:57", 
    "errorCode": "" 
  } 
] 
 
 Search TM Robot Project Name 
Check and obtain the project name list of the TM Robot in connection. Please confirm that TMmanager 
in the robot's system setting is enabled and set the IP address to the one that Robot Management API 
uses with port 9835. 
 
 HTTPS 
Arguments 
Name 
Required Data Type 
Description 
TMRobotName Yes 
string 
TM Robot name (stick serial number, unique 
value). 
ProjectNames 
Yes 
string array TM Robot project name list. If the value is an 
empty array, it will returns all project names of 
TM Robot. 
 
Request 
URL Path: /HttpServerRobot/GetTMRobotProjects/{TMRobotName} 
Method: POST 
Content 
["000_0","0704_700_vision"] 
 
Response 
Typical success response 
[ 
  {"tmRobotName":"TM000000","projectName":"000_0"}, 
  {"tmRobotName":"TM000000","projectName":"0704_700_vision"} 


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] 
 
 
 Sockets 
Arguments 
Name 
Required Data Type Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. Use 
1 for the target as a TM Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 1. 
TMRobotName 
Yes 
string 
TM Robot name(stick serial number, 
unique value). 
ProjectNames 
No 
string 
array 
TM Robot project name list. If the 
field is null, an empty array, or no 
field, it returns TM Robot's all project 
names. 
 
Request 
{ 
  "Token": 
"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzdWIiOiJBZG1pbiIsImp0aSI6IjUxOTQ2NjMzLTM2
NTgtNDYzNC1hZTYzLTQzNmRjMDIzMjFkNyIsInJvbGVzIjpbIkFkbWluIiwiVXNlcnMiXSwibmJmIj
oxNjA3OTA4MDY0LCJleHAiOjE2MDc5MTE2NjQsImlhdCI6MTYwNzkwODA2NCwiaXNzIjoiVE1
NIn0.YfbC4sa3ICavXHPCD82r2B3kcUFYRtZ2SOGH_k1tGH8", 
  "ActionTarget": 1, 
  "TMRobotActionParameter": { 
    "RobotActionType": 1, 
   "TMRobotName":"TM000000", 
   "ProjectNames":["000_0","0704_700_vision"] 
  } 
} 
 
Response 
 
Typical success response 
{ 
  "Success": true, 
  "Message": "", 


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  "ActionTarget": 1, 
  "TMRobotActionReturn": { 
    "RobotActionType": 1, 
    "TMRobotProjects": [ 
      { 
        "TMRobotName": "TM000000", 
        "ProjectName": "000_0" 
      }, 
      { 
        "TMRobotName": "TM000000", 
        "ProjectName": "0704_700_vision" 
      } 
    ] 
} 
 
 gRPC 
Arguments 
Name 
Required Data Type 
Description 
TMRobotName Yes 
string 
TM Robot name(stick serial number, unique 
value). 
ProjectNames 
No 
string array TM Robot project name list. If the value is an 
empty array, it returns TM Robot's all project 
names. 
 
Request 
Function Name /GrpcServerRobot/GetTMRobotProjects 
{ 
    "TMRobotName":"TM000000", 
    "ProjectNames":["000_0","0704_700_vision"] 
} 
 
Response 
[ 
  {"tmRobotName":"TM000000","projectName":"000_0"}, 
  {"tmRobotName":"TM000000","projectName":"0704_700_vision"} 
] 
 


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 Search TM Robot Variable Property Infomation 
Obtain the variable property information in connection. The variables include global variables and 
project variables of the TM Robot in operation. 
 
Prerequisites: 
 
TMmanager in the robot's system setting is enabled and set the IP address to the one that 
Robot Management API uses with port 9835. 
 
Variables must deliver via TMflow Set nodes setting VarSync (retry times, wait time ms, 
"variable") with Expression Editor in Variables. Please replace values with retry times and 
wait time ms. 
 
The robot project is in execution. 
 
 HTTPS 
Argument 
Name 
Required Data Type 
Description 
TMRobotName Yes 
string 
TM Robot names((stick serial number, unique 
value)). 
ProjectName 
Yes 
string 
Project name 
VariableNames No 
string array TM Robot variable name list. If the value is an 
empty array, it returns TM Robot's all project 
names. 
 
Request 
URL Path: /HttpServerRobot/GetTMRobotVariables/{ TMRobotName }/{ProjectName} 
HTTP method: POST 
Headers 
Content-Type 
application/json 
Authorization 
Bearer {token} 
Content 
["var_a"] 
 
Response 
 
Typical success response 
[ 
  { 
    "name": "var_a", 
    "projectName": "Test", 
    "isGlobalVariable": true, 


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    "isSubscribed": false 
  } 
] 
 
 
 Sockets 
Arguments 
Name 
Required Data Type Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. Use 
1 for the target as a TM Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 2. 
TMRobotName 
Yes 
string 
TM Robot name 
VariableNames 
No 
string 
array 
Variable name list. If the field is null, 
an empty array, or no field, it returns 
every TM Robot in connection. 
 
Request 
{ 
  "Token": "123456", 
  "ActionTarget": 1, 
  "TMRobotActionParameter": { 
    "RobotActionType": 2, 
    "TMRobotName": "TM123456", 
    "VariableNames": [ 
        "var_a" 
    ] 
  } 
} 
 
Response 
 
Typical success response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 1, 
  "TMRobotActionReturn": { 


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    "RobotActionType": 2, 
    "TMRobotVariables": [ 
      { 
        "Name": "var_a", 
        "ProjectName": "Test", 
        "IsGlobalVariable": true, 
        "IsSubscribed": false 
      } 
    ] 
  } 
} 
 
 gRPC 
Arguments 
Name 
Required Data Type 
Description 
TMRobotName Yes 
string 
TM Robot names((stick serial number, unique 
value)). 
ProjectName 
Yes 
string 
Project name 
VariableNames No 
string array TM Robot variable name list. If the value is an 
empty array, it returns TM Robot's all variables. 
 
Request 
Function Name /GrpcServerRobot/GetTMRobotVariables 
{ 
    "TMRobotName":"TM000000", 
    "ProjectName":"Test", 
    "VariableNames":["var_a"] 
} 
 
Response 
[ 
  { 
    "name": "var_a", 
    "projectName": "Test", 
    "isGlobalVariable": true, 
  } 
] 
 


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 Search TM Robot Variable Value 
Obtain one or more variable values of the TM Robot in connection and in the project execution. The 
content contains the current and the last value. 
 
Prerequisites: 
 
TMmanager in the robot's system setting is enabled and set the IP address to the one that 
Robot Management API uses with port 9835. 
 
Variables must deliver via TMflow Set nodes setting VarSync (retry times, wait time ms, 
"variable") with Expression Editor in Variables. Please replace values with retry times and 
wait time ms. 
 
The robot project is in execution. 
 
 HTTPS 
Arguments 
Name 
Required Data Type 
Description 
TMRobotName Yes 
string 
TM Robot names(stick serial number, unique 
value). 
VariableName 
No 
string 
array 
Variable name 
 
Request 
URL Path: /HttpServerRobot/GetTMRobotVariablesValue/{TMRobotName} 
Method: POST 
Headers 
Content-Type 
application/json 
Authorization 
Bearer {token} 
Content 
["var_a"] 
 
Response 
 
Typical success response 
[ 
  { 
    "tmRobotName": "TM123456", 
    "projectName": "Test ", 
    "vType": "string", 
    "vName": "var_a", 


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    "value": "Test", 
    "pastValue": "" 
  } 
] 
 
 Sockets 
Arguments 
Name 
Required Data Type Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. Use 
1 for the target as the Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 3. 
TMRobotName 
Yes 
string 
TM Robot name 
VariableNames 
No 
string 
array 
Variable name list. If the field is null, 
an empty array, or no field, it returns 
all project variables. 
 
Request 
{ 
  "Token": "123456", 
  "ActionTarget": 1, 
  "TMRobotActionParameter": { 
    "RobotActionType": 3, 
    "TMRobotName": "TM123456", 
    "VariableNames": [ 
      "var_a" 
    ] 
  } 
} 
 
Response 
 
Typical success response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 1, 
  "TMRobotActionReturn": { 


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    "RobotActionType": 3, 
    "TMRobotVariableValues": [ 
      { 
        "TMRobotName": "TM123456", 
        "ProjectName": "Test ", 
        "vType": "string", 
        "vName": "var_a", 
        "Value": "Test", 
        "PastValue": "" 
      } 
    ] 
  } 
} 
 
 gRPC 
Arguments 
Name 
Required Data Type Description 
TMRobotName Yes 
string 
TM Robot name 
VariableNames No 
string 
array 
Variable name list. If the value is an empty 
array, it returns all project variables. 
 
Request 
Function Name /GrpcServerRobot/GetTMRobotVariablesValue 
{ 
    "variableNames":["var_a"] 
} 
 
Response 
[ 
    { 
        "TMRobotName": "TM123456", 
        "ProjectName": "Test ", 
        "vType": "string", 
        "vName": "var_a", 
        "Value": "Test", 
        "PastValue": "" 
      } 


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] 
 
 Read Modbus 
Obtain the TM Robot Modbus Address value. For TM Robot Modbus Table, refer to the respective 
version of TMflow user manual. 
 
 HTTPS 
Arguments 
Name 
Required Data Type 
Description 
ModbusFunction Yes 
int 
Modbus Read Function Code, refer to 
ModbusFunction. 
DeviceIP 
Yes 
string 
TM Robot or other device IP address. 
Port 
Yes 
int 
Modbus port 502 
SlaveAddress 
Yes 
int 
Modbus slave id 
StartAddress 
Yes 
int 
Modbus register starting address 
NumberOfPoint 
Yes 
int 
Modbus address amount to read 
 
Request 
URL Path: /HttpServerModbus/ReadModbus 
Method: POST 
Headers 
Content-Type 
application/json 
Authorization 
Bearer {token} 
Content 
{ 
  "ModbusFunction": 1, //  Refer to the second part of the Response for the response 
result of 3 or 4. 
  "DeviceIP": "192.168.132.169", 
  "Port": 502, 
  "SlaveAddress": 1, 
  "StartAddress": 0, 
  "NumberOfPoint": 3 
} 
 
Response 
 
Request content is 1, Typical success response 
[false,false,false] 
 
Request content is 3 or 4, typical success respose. 


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[15547,62248,33374] 
 
 Sockets 
Arguments 
Name 
Required Data Type 
Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. Use 
2 for the target as Modbus. 
ModbusActionParameter  
object 
 
ModbusFunction 
Yes 
int 
Modbus Read Function Code, refer to 
ModbusFunction. 
DeviceIP 
Yes 
string 
Device IP address 
Port 
Yes 
int 
Modbus port 502 
SlaveAddress 
Yes 
int 
Modbus slave id 
StartAddress 
Yes 
int 
Modbus register starting address 
NumberOfPoint 
Yes 
int 
Modbus address amount to read 
 
{ 
  "Token": "123456", 
  "ActionTarget": 2, 
  "ModbusActionParameter": { 
    "ModbusFunction": 1,  //  Refer to the second part of the Response for the response 
result of 3 or 4. 
    "DeviceIP": "192.168.132.169", 
    "Port": 502, 
    "SlaveAddress": 1, 
    "StartAddress": 0, 
    "NumberOfPoint": 3 
  } 
} 
 
Response 
 
Request content is 1, Typical success response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 2, 
  "ModbusActionReturn": { 
    "ModbusFunction": 1, 


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    "ReadBools": [ 
      false, 
      false, 
      false 
    ] 
  } 
} 
 
Request content is 3 or 4, typical success respose. 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 2, 
  "ModbusActionReturn": { 
    "ModbusFunction": 3, 
    "ReadRegisters": [ 
       15547,62248,33374 
    ] 
  } 
} 
 
 
 gRPC 
Arguments 
Name 
Required Data Type 
Description 
ModbusFunction Yes 
int 
Modbus Read Function Code, refer to 
ModbusFunction. 
DeviceIP 
Yes 
string 
TM Robot or other device IP address. 
Port 
Yes 
int 
Modbus port 502 
SlaveAddress 
Yes 
int 
Modbus slave id 
StartAddress 
Yes 
int 
Modbus register starting address 
NumberOfPoint 
Yes 
int 
Modbus address amount to read 
 
Request 
Function Name /GrpcServerRobot/ReadModbus 
{ 
  "ModbusFunction": 1, //  Refer to the second part of the Response for the response 
result of 3 or 4. 
  "DeviceIP": "192.168.132.169", 


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  "Port": 502, 
  "SlaveAddress": 1, 
  "StartReadAddress": 0, 
  "NumberOfPoint": 3 
} 
 
Response 
 
Request content is 1, Typical success response 
{ 
    "ReadBools": [ 
      false, 
      false, 
      false 
    ] 
} 
 
Request content is 3 or 4, typical success respose. 
{ 
    "ReadRegisters": [ 
       15547,62248,33374 
    ] 
} 
 
 Subscribe TM Robot Information 
Subscribe TM Robot information by the contents of the input arguments. When the connected TM 
Robot information changes, the system actively publishes TM Robot information to subscribers. For TM 
Robot information, refer to TMRobotInfo. 
 
 Sockets 
Arguments 
Name 
Required Data Type 
Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. 
Use 1 for the target as the Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 4. 
TMRobotName 
Yes 
string 
TM Robot name 
 


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Request 
{ 
  "Token": "123456", 
  "ActionTarget": 1, 
  "TMRobotActionParameter": { 
    "RobotActionType": 4, 
    "TMRobotNames": [ 
      "TM123456" 
    ] 
  } 
} 
 
Response 
 
Typical success response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 1, 
  "TMRobotActionReturn": { 
    "RobotActionType": 4 
  } 
} 
 
 Unsubscribe TM Robot Information 
Unsubscribe TM Robot information by the contents of the input arguments. 
 
 Sockets 
Arguments 
Name 
Required Data Type 
Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. 
Use 1 for the target as the Robot. 
TMRobotActionParameter  
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 5. 
TMRobotNames 
Yes 
string array 
TM Robot names 
 
Request 


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{ 
  "Token": "123456", 
  "ActionTarget": 1, 
  "TMRobotActionParameter": { 
    "RobotActionType": 5, 
    "TMRobotNames": [ 
      "TM123456" 
    ] 
  } 
} 
 
Response 
 
Typical success response 
{ 
  "Success": true, 
  "Message": "", 
  "ActionTarget": 1, 
  "TMRobotActionReturn": { 
    "RobotActionType": 5 
  } 
} 
 
 Subscribe TM Robot Variable 
Subscribe TM Robot variables by the contents of the input arguments. When the connected TM Robot 
variables change, the system actively publishes TM Robot information to subscribers. Please confirm 
that TMmanager in the robot's system setting is enabled and set the IP address to the one that Robot 
Management API uses with port 9835. 
 
 Sockets  
Arguments 
Name 
Required 
Data Type Description 
Token 
Yes 
string 
API access token 
ActionTarget 
Yes 
int 
Socket command target in effect. 
Use 1 for the target as the Robot. 
TMRobotActionParameter 
 
object 
 
RobotActionType 
Yes 
int 
Robot action type ID. The method 
brings in the value 6. 
TMRobotName 
Yes 
string 
TM Robot name 
