Fanuc SDK documentation

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 sends joint or Cartesian positions at up to 250 Hz via UDP. Best for real-time control, force feedback, and adaptive paths.

// Connect and start streaming
var parameters = new ConnectionParameters("192.168.0.1");
parameters.StreamMotion.Enable = true;
robot.Connect(parameters);
robot.StreamMotion.Start();

// Send a joint command
robot.StreamMotion.SendJointCommand(new MotionData
{
    J1 = 0,
    J2 = -30,
    J3 = 45,
    J4 = 0,
    J5 = 60,
    J6 = 0
});

// React to state updates (~125–250 Hz)
robot.StreamMotion.StateReceived += (s, e) =>
{
    StatePacket state = e.State;
    // state.JointPosition, state.CartesianPosition, state.Status...
};