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Move robot remotely

Move a Fanuc robot from an external application using RMI motion commands, Stream Motion real-time streaming, or DPM with SNPX.

RMI : TP-like motion commands
Stream Motion : Real-time streaming (J519)
SNPX + DPM : Position register handshake
CGTP

Move a Fanuc robot remotely using the SDK. There are several approaches depending on your application requirements.

RMI : TP-like motion commands

RMI (Remote Motion Interface) sends motion instructions similar to a TP program. Best for pick-and-place, welding paths, and multi-waypoint trajectories.

using System;
using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common;
using UnderAutomation.Fanuc.Rmi.Data;
using UnderAutomation.Fanuc.Rmi.TpInstructions;

public class RmiMotion
{
    static void Main()
    {
        FanucRobot robot = new FanucRobot();
        ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
        parameters.Rmi.Enable = true;
        robot.Connect(parameters);

        // Check status
        RmiControllerStatusResponse status = robot.Rmi.GetStatus();
        if (status.TPEnabled)
        {
            Console.WriteLine("Turn off the teach pendant before proceeding.");
            return;
        }
        if (!status.ServoReady)
        {
            Console.WriteLine("Servos are not ready.");
            return;
        }

        // Initialize RMI_MOVE
        robot.Rmi.Initialize();

        // Set speed override
        robot.Rmi.SetOverride(80);

        // Move to a start position
        robot.Rmi.SendTpInstruction(new JointMotionJRepTpInstruction
        {
            SpeedType = RmiJointSpeedType.Percent,
            Speed = 10,
            TermType = RmiTerminationType.Fine,
            Joints = new JointsPosition(0, 0, 0, 0, 0, 0)
        }).WaitForCompletion();

        // Approach
        robot.Rmi.SendTpInstruction(new LinearMotionTpInstruction
        {
            SpeedType = RmiLinearSpeedType.MmSec,
            Speed = 200,
            TermType = RmiTerminationType.Cnt,
            TermValue = 50,
            Target = new CartesianPositionWithUserFrame(500, 200, 350, 0, 90, 0, 1, 0)
        });

        // Descend to pick position
        robot.Rmi.SendTpInstruction(new LinearMotionTpInstruction
        {
            SpeedType = RmiLinearSpeedType.MmSec,
            Speed = 50,
            TermType = RmiTerminationType.Fine,
            Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, 1, 0)
        }).WaitForCompletion();

        // Activate gripper
        robot.Rmi.SendTpInstruction(new CallProgramTpInstruction { ProgramName = "GRIP_ON" })
             .WaitForCompletion();

        // Retract
        robot.Rmi.SendTpInstruction(new LinearMotionTpInstruction
        {
            SpeedType = RmiLinearSpeedType.MmSec,
            Speed = 100,
            TermType = RmiTerminationType.Fine,
            Target = new CartesianPositionWithUserFrame(500, 200, 400, 0, 90, 0, 1, 0)
        }).WaitForCompletion();

        // Check HOLD state
        if (robot.Rmi.IsInHoldState)
        {
            Console.WriteLine("Controller in HOLD. Calling Reset...");
            robot.Rmi.Reset();
        }

        robot.Rmi.Abort();
        robot.Disconnect();
    }
}

Requirements: J992 (Remote Motion Interface) robot option.

Stream Motion : Real-time streaming (J519)

Stream Motion gives the position of the robot at every communication cycle (2 to 8 ms). The SDK plans smooth trajectories within the limits of the robot and sends them in real time. Best for computed paths, sensor guided motion and teleoperation.

robot.Connect(parameters);
var sm = robot.StreamMotion;
// A TP program with IBGN start[1] / IBGN end[1] must run on the robot
sm.StartMonitoring();

var planner = new MotionPlanner(sm.JointLimits, null);
JointsPosition start = sm.QueueEndJointPosition;
var target = new JointsPosition(start.Values) { J1 = start.J1 + 20, J2 = start.J2 - 10 };

// Smooth trajectory within the velocity, acceleration and jerk limits of the robot
sm.Enqueue(planner.CreateJointPath(FanucMotion.ToJointValues(start))
    .MoveJoint(FanucMotion.ToJointValues(target), 30, FanucMotion.Cnt(100))
    .MoveJoint(FanucMotion.ToJointValues(start), 30, FanucMotion.Fine())
    .Build());

sm.Finish(60000);
robot.Disconnect();
}

Click to see the full code

Requirements: J519 (Stream Motion) robot option.

See also: Stream Motion and the motion planner

SNPX + DPM : Position register handshake

See : Move Robot with Mouse

FTP

If you have option ASCII Upload, you can build th TP program .ls file, download it via FTP and execute the task with Telnet, SNPX. or CGTP

See : TP editor with breakpoints

CGTP

CGTP allows you to create a new program, insert instructions, and execute it.

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