RMI overview

parameters.Rmi.Enable = true;
robot.Connect(parameters);
// Initialize the RMI_MOVE program on the controller.
// TP must be disabled and the controller must be in AUTO mode.
robot.Rmi.Initialize();

// Linear motion at 100 mm/s to a Cartesian target (tool 1, frame 0)
var instr = new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 100,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, tool: 1, frame: 0)
};
RmiInstructionResponse r = robot.Rmi.SendTpInstruction(instr);

// Wait for the controller to confirm the motion completed
r.WaitForCompletion();

if (r.Status == RmiInstructionStatus.Error)
    System.Console.WriteLine("Error: " + r.ErrorText);

// Abort when done - always end the session with Abort() or Disconnect()
robot.Rmi.Abort();

robot.Disconnect();
}
}

{
FanucRobot robot = new FanucRobot();
// Enable RMI and connect. The bootstrap port is 16001.
// The controller assigns a working port automatically.
ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
parameters.Rmi.Enable = true;
robot.Connect(parameters);

System.Console.WriteLine("Connected: " + robot.Rmi.Connected);
System.Console.WriteLine("Protocol version: " + robot.Rmi.MajorVersion + "." + robot.Rmi.MinorVersion);
System.Console.WriteLine("Working port: " + robot.Rmi.WorkingPort);

// Subscribe to events before sending instructions
robot.Rmi.SystemFaultReceived += seqId =>
    System.Console.WriteLine("System fault on sequence " + seqId);

robot.Rmi.ConnectionTerminated += () =>
    System.Console.WriteLine("Controller closed the RMI session");

robot.Rmi.RecordedCartesianPositionReceived += pos =>
    System.Console.WriteLine("Recorded position " + pos.PositionId);

robot.Disconnect();
}
}

parameters.Rmi.Enable = true;
robot.Connect(parameters);
// Check controller state before initializing
RmiControllerStatusResponse status = robot.Rmi.GetStatus();
System.Console.WriteLine("Servo ready: " + status.ServoReady);
System.Console.WriteLine("TP enabled: " + status.TPEnabled);
System.Console.WriteLine("RMI running: " + status.RmiMotionStatus);

// Initialize: creates and starts the RMI_MOVE TP program.
// Will throw if TP is enabled or servos are off.
robot.Rmi.Initialize();

// For multi-group controllers, specify a group mask (bit N = group N+1)
// robot.Rmi.Initialize(groupMask: 0b00000011);  // groups 1 and 2

// Enable real-time singularity avoidance (requires MajorVersion >= 6, R792 option)
// robot.Rmi.Initialize(rtsa: true);

// Set palletizing motion mode (requires MajorVersion >= 7)
// robot.Rmi.Initialize(pltzMode: RmiPltzMode.ZeroDown);

System.Console.WriteLine("RMI initialized");

// The controller checks sequence IDs by default.
// AutoSetNextSequenceId() resynchronizes the counter if needed.
robot.Rmi.AutoSetNextSequenceId();

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