Connection, status & session

static void Main()
{
var robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
parameters.StreamMotion.Enable = true;

// Optional settings (default values)
parameters.StreamMotion.ProtocolVersion = 1;     // 1, 2 or 3, not higher than $STMO.$USABLE_VER
parameters.StreamMotion.BufferLeadTime = 0.024;  // positions sent in advance, in seconds
parameters.StreamMotion.PacketStackSize = 10;    // same value as $STMO.$PKT_STACK

robot.Connect(parameters);

// The robot sends its status every communication cycle once the monitoring is started.
// The limits of the robot are read first, then the communication cycle is measured.
robot.StreamMotion.StartMonitoring();

Console.WriteLine($"State: {robot.StreamMotion.State}");
Console.WriteLine($"Communication cycle: {robot.StreamMotion.CycleTime * 1000} ms");
robot.Disconnect();
}

var sm = robot.StreamMotion;
sm.StartMonitoring();
// Last status, updated every communication cycle
StreamMotionStatus status = sm.LastStatus;
Console.WriteLine($"Joints: {status.JointPosition}");
Console.WriteLine($"Cartesian: {status.CartesianPosition}");
Console.WriteLine($"Waiting for positions: {status.IsWaitingForCommand}, moving: {status.IsMoving}");

// Event raised with the latest status, on a background thread
sm.StatusReceived += (sender, e) => Console.WriteLine($"J1 = {e.Status.JointPosition.J1}");

// Quality of the communication
StreamMotionStatistics statistics = sm.Statistics;
Console.WriteLine($"Lost status: {statistics.LostStatusCount}, underruns: {statistics.UnderrunCount}");
robot.Disconnect();
}

robot.Connect(parameters);
var sm = robot.StreamMotion;
// Read the limits before running the IBGN program:
// some controllers do not answer while a program waits on IBGN start
StreamMotionLimits limits = sm.ReadLimits();

// Reference limits: always safe, used by default by the client
JointLimits reference = limits.ReferenceLimits;
Console.WriteLine($"J1: {reference.Velocity[0]} deg/s, {reference.Acceleration[0]} deg/s2, {reference.Jerk[0]} deg/s3");

// Limits applied by the robot at a given flange speed (mm/s) and payload (kg)
JointLimits atSpeed = limits.ComputeLimits(500, 5, 12);

// Raw table of one axis: acceleration limit of J2 for each speed stage
LimitTable table = limits.GetTable(2, LimitType.Acceleration);
Console.WriteLine(table);
robot.Disconnect();
}

robot.Connect(parameters);
var sm = robot.StreamMotion;
sm.SessionStarted += (sender, e) => Console.WriteLine($"Session {e.SessionIndex} started");
sm.SessionEnded += (sender, e) => Console.WriteLine($"Session {e.SessionIndex} ended: {e.Reason}");

sm.StartMonitoring();
var planner = new MotionPlanner(sm.JointLimits, null);

// The TP program loops on IBGN start / IBGN end: one session per loop
for (int cycle = 0; cycle < 3; cycle++)
{
    // Wait until the program reaches IBGN start
    if (!sm.WaitForReady(60000)) break;

    JointsPosition start = sm.QueueEndJointPosition;
    var target = new JointsPosition(start.Values) { J6 = start.J6 + 20 };
    sm.Enqueue(planner.CreateJointPath(FanucMotion.ToJointValues(start))
        .MoveJoint(FanucMotion.ToJointValues(target), 30, FanucMotion.Fine())
        .MoveJoint(FanucMotion.ToJointValues(start), 30, FanucMotion.Fine())
        .Build());

    // Wait for the end of the motion, then release the program (IBGN end)
    sm.Finish(60000);
}
robot.Disconnect();
}

var sm = robot.StreamMotion;
sm.StartMonitoring();
var planner = new MotionPlanner(sm.JointLimits, new CartesianLimits(250, 1000, 5000, 45, 180, 900));

// First session: joint positions
sm.WaitForReady(60000);
JointsPosition start = sm.QueueEndJointPosition;
var target = new JointsPosition(start.Values) { J1 = start.J1 + 10 };
sm.Enqueue(planner.CreateJointPath(FanucMotion.ToJointValues(start)).MoveJoint(FanucMotion.ToJointValues(target), 30, FanucMotion.Fine()).Build());

// The format is now fixed until the end of the session
if (sm.HasActiveFormat) Console.WriteLine($"Current format: {sm.ActiveFormat}"); // Joint

// A Cartesian trajectory would throw a StreamMotionException (FormatMismatch) here.
// End the session: the TP program continues after IBGN end
sm.Finish(60000);
Console.WriteLine($"Format fixed: {sm.HasActiveFormat}"); // False

// Second session, when the TP program loops back to IBGN start: Cartesian positions
sm.WaitForReady(60000);
XYZWPRPosition flange = sm.QueueEndCartesianPosition;
var down = new XYZWPRPosition(flange.X, flange.Y, flange.Z - 50, flange.W, flange.P, flange.R);
sm.Enqueue(planner.CreateCartesianPath(FanucMotion.ToCartesianPose(flange)).MoveLinear(FanucMotion.ToCartesianPose(down), 100, FanucMotion.Fine()).Build());
sm.Finish(60000);
robot.Disconnect();
}

static void Main()
{
// Stream Motion client without FanucRobot
var client = new StreamMotionClient();
client.Connect("192.168.0.1", new StreamMotionConnectParameters { ProtocolVersion = 2 });
client.StartMonitoring();

Console.WriteLine($"Communication cycle: {client.CycleTime * 1000} ms");

client.Disconnect();
}
}