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Fanuc SDK documentation

Motion commands

Send linear, joint, and circular motion commands with configurable speed, termination type, and acceleration via RMI.

Linear motion
- Speed types
- Termination types
Joint motion
- Joint motion with joint representation
Circular motion
Relative motions
Wait and instruction packets
Complete example
API reference

RMI lets you send TP-equivalent motion instructions to the robot. Each instruction has a unique sequenceId and is queued for execution in order.

Linear motion

Move the robot in a straight line to a Cartesian target:

Frame target = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };

robot.Rmi.LinearMotion(
    sequenceId: 1,
    config: config,
    position: target,
    speedType: SpeedType.MmSec,
    speed: 100,
    termType: TerminationType.Fine,
    termValue: 0,
    acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
);

Speed types

`SpeedType`	Description
`MmSec`	Millimeters per second
`InchMin`	Inches per minute
`Time`	Time in seconds
`Percent`	Percentage of maximum speed

Termination types

`TerminationType`	Description
`Fine`	Stop precisely at the target
`Cnt`	Continuous (fly-by, value = CNT percentage)
`Cr`	Corner Region

Joint motion

Move using joint interpolation:

Frame target = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };

// Joint motion with Cartesian target
robot.Rmi.JointMotion(
    sequenceId: 2,
    config: config,
    position: target,
    speedType: SpeedType.Percent,
    speed: 50,
    termType: TerminationType.Cnt,
    termValue: 100,
    acc: null, offsetPr: null, visionPr: null, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
);

// Joint motion with joint angles
JointAngles joints = new JointAngles { J1 = 0, J2 = 0, J3 = 0, J4 = 0, J5 = -90, J6 = 0 };
robot.Rmi.JointMotionJRep(
    sequenceId: 3,
    joints: joints,
    speedType: SpeedType.Percent,
    speed: 50,
    termType: TerminationType.Cnt,
    termValue: 100,
    acc: null, offsetPr: null, visionPr: null, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
);

Joint motion with joint representation

Specify joint angles directly instead of a Cartesian frame.

Circular motion

Circular motion requires a via point and a destination:

MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };

Frame via = new Frame { X = 450, Y = 250, Z = 350, W = 0, P = 90, R = 0 };
MotionConfiguration viaConfig = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };
Frame dest = new Frame { X = 500, Y = 300, Z = 300, W = 0, P = 90, R = 0 };

robot.Rmi.CircularMotion(
    sequenceId: 4,
    config: config,
    position: dest,
    viaConfig: viaConfig,
    viaPosition: via,
    speedType: SpeedType.MmSec,
    speed: 50,
    termType: TerminationType.Fine,
    termValue: 0,
    acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
);

Relative motions

All motion types have relative (incremental) variants.

Wait and instruction packets

Insert wait conditions between motions:

// Wait for digital input DI[5] = ON
robot.Rmi.WaitDin(sequenceId: 10, portNumber: 5, value: OnOff.ON);

// Wait for a duration (seconds)
robot.Rmi.WaitTime(sequenceId: 11, seconds: 2.0);

// Set frame/tool mid-program
robot.Rmi.SetUFrameInstruction(sequenceId: 12, frameNumber: 2);
robot.Rmi.SetUToolInstruction(sequenceId: 13, toolNumber: 3);

// Set payload schedule
robot.Rmi.SetPayload(sequenceId: 14, scheduleNumber: 1);

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Rmi.Data;

public class RmiMotion
{
    public static void Main()
    {
        FanucRobot robot = new FanucRobot();

        ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
        parameters.Rmi.Enable = true;

        robot.Connect(parameters);
        robot.Rmi.Initialize();

        /**/
        Frame target = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
        MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };

        // Linear motion
        robot.Rmi.LinearMotion(
            sequenceId: 1,
            config: config,
            position: target,
            speedType: SpeedType.MmSec,
            speed: 100,
            termType: TerminationType.Fine,
            termValue: 0,
            acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
            lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
        );

        // Joint motion
        robot.Rmi.JointMotion(
            sequenceId: 2,
            config: config,
            position: target,
            speedType: SpeedType.Percent,
            speed: 50,
            termType: TerminationType.Cnt,
            termValue: 100,
            acc: null, offsetPr: null, visionPr: null, mrot: false,
            lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
        );

        // Joint motion with joint angles
        JointAngles joints = new JointAngles { J1 = 0, J2 = 0, J3 = 0, J4 = 0, J5 = -90, J6 = 0 };
        robot.Rmi.JointMotionJRep(
            sequenceId: 3,
            joints: joints,
            speedType: SpeedType.Percent,
            speed: 50,
            termType: TerminationType.Cnt,
            termValue: 100,
            acc: null, offsetPr: null, visionPr: null, mrot: false,
            lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
        );

        // Circular motion (via point + destination)
        Frame via = new Frame { X = 450, Y = 250, Z = 350, W = 0, P = 90, R = 0 };
        MotionConfiguration viaConfig = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };
        robot.Rmi.CircularMotion(
            sequenceId: 4,
            config: config,
            position: target,
            viaConfig: viaConfig,
            viaPosition: via,
            speedType: SpeedType.MmSec,
            speed: 50,
            termType: TerminationType.Fine,
            termValue: 0,
            acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
            lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
        );

        // Wait for digital input
        robot.Rmi.WaitDin(sequenceId: 10, portNumber: 5, value: OnOff.ON);

        // Wait for a duration
        robot.Rmi.WaitTime(sequenceId: 11, seconds: 2.0);

        // Set payload schedule
        robot.Rmi.SetPayload(sequenceId: 12, scheduleNumber: 1);
        /**/
    }
}

API reference

Members of Rmi.Data.Frame :

public class Frame {
     public Frame()
     public override bool Equals(object obj)
 
    // Extended axis 1 (optional).
    public double Ext1 { get; set; }
 
    // Extended axis 2 (optional).
    public double Ext2 { get; set; }
 
    // Extended axis 3 (optional).
    public double Ext3 { get; set; }
     public override int GetHashCode()
 
    // P (Pitch) in degrees.
    public double P { get; set; }
 
    // R (Roll) in degrees.
    public double R { get; set; }
     public override string ToString()
 
    // W (Yaw) in degrees.
    public double W { get; set; }
 
    // X coordinate in millimeters.
    public double X { get; set; }
 
    // Y coordinate in millimeters.
    public double Y { get; set; }
 
    // Z coordinate in millimeters.
    public double Z { get; set; }
}

Members of Rmi.Data.MotionConfiguration :

public class MotionConfiguration {
     public MotionConfiguration()
     public override bool Equals(object obj)
 
    // FLIP bit (0/1).
    public byte Flip { get; set; }
 
    // FRONT bit (0/1).
    public byte Front { get; set; }
     public override int GetHashCode()
 
    // LEFT bit (0/1).
    public byte Left { get; set; }
     public override string ToString()
 
    // Turn 4.
    public byte Turn4 { get; set; }
 
    // Turn 5.
    public byte Turn5 { get; set; }
 
    // Turn 6.
    public byte Turn6 { get; set; }
 
    // Active UFRAME number.
    public byte UFrameNumber { get; set; }
 
    // Active UTOOL number.
    public byte UToolNumber { get; set; }
 
    // UP bit (0/1).
    public byte Up { get; set; }
}

Members of Rmi.Data.JointAngles :

public class JointAngles {
     public JointAngles()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Joint 1 angle.
    public double J1 { get; set; }
 
    // Joint 2 angle.
    public double J2 { get; set; }
 
    // Joint 3 angle.
    public double J3 { get; set; }
 
    // Joint 4 angle.
    public double J4 { get; set; }
 
    // Joint 5 angle.
    public double J5 { get; set; }
 
    // Joint 6 angle.
    public double J6 { get; set; }
 
    // Joint 7 angle (optional extended axis).
    public double J7 { get; set; }
 
    // Joint 8 angle (optional extended axis).
    public double J8 { get; set; }
 
    // Joint 9 angle (optional extended axis).
    public double J9 { get; set; }
     public override string ToString()
}

Members of Rmi.Data.SpeedType :

public enum SpeedType {
 
    // Linear speed in inches per minute.
    InchMin = 1
 
    // Linear speed in millimeters per second.
    MmSec = 0
 
    // Joint speed as percentage of maximum.
    Percent = 3
 
    // Duration-based speed (0.1 seconds unit for Linear/Circular, milliseconds for Joint).
    Time = 2
}

Members of Rmi.Data.TerminationType :

public enum TerminationType {
 
    // Continuous termination; blend motions (1-100).
    Cnt = 1
 
    // Constant path mode (requires option).
    Cr = 2
 
    // FINE termination; precise stop.
    Fine = 0
}

Members of Rmi.Data.RmiSequenceResponse :

public class RmiSequenceResponse : RmiResponseBase {
     public RmiSequenceResponse()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Echoed SequenceID of the instruction that completed.
    public int SequenceId { get; set; }
     public override string ToString()
}

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