Fanuc SDK documentation

Frames, I/O & status

Manage user frames and tools, read/write I/O, read positions, set speed override, and get controller status via RMI.

Controller status
Admin commands
Position reading
User frames and tools
Digital I/O
Position registers
Complete example
API reference

RMI provides access to user frames, tools, digital I/O, position registers, and controller status.

Controller status

// Controller status
ControllerStatus status = robot.Rmi.GetStatus();
Console.WriteLine($"Servo ready: {status.ServoReady}");
Console.WriteLine($"TP mode: {status.TPMode}");

// Admin commands
robot.Rmi.SetOverride(50);
robot.Rmi.Pause();
robot.Rmi.Continue();
robot.Rmi.Reset();
robot.Rmi.Abort();

// Read last error
ControllerErrorText error = robot.Rmi.ReadError();

Admin commands

Position reading

// Current Cartesian position
var pos = robot.Rmi.ReadCartesianPosition();
Console.WriteLine($"X={pos.Position.X}, Y={pos.Position.Y}, Z={pos.Position.Z}");

// Current joint angles
JointAnglesSample joints = robot.Rmi.ReadJointAngles();
Console.WriteLine($"J1={joints.JointAngle.J1}, J2={joints.JointAngle.J2}");

// TCP speed
TcpSpeed speed = robot.Rmi.ReadTcpSpeed();
Console.WriteLine($"TCP speed: {speed.Speed} mm/s");

User frames and tools

// Read current frame/tool numbers
UFrameUToolNumbers current = robot.Rmi.GetUFrameUTool();
Console.WriteLine($"UFrame: {current.UFrameNumber}, UTool: {current.UToolNumber}");

// Set current frame/tool
robot.Rmi.SetUFrameUTool(uframe: 1, utool: 2);

// Read/write a user frame
IndexedFrame frame = robot.Rmi.ReadUFrame(1);
robot.Rmi.WriteUFrame(1, new Frame { X = 100, Y = 200, Z = 0 });

// Read/write user tool
IndexedFrame tool = robot.Rmi.ReadUTool(1);
robot.Rmi.WriteUTool(1, new Frame { X = 0, Y = 0, Z = 150 });

Digital I/O

// Read digital input
DigitalInputValue din = robot.Rmi.ReadDIN(5);
Console.WriteLine($"DI[5] = {din.PortValue}");

// Write digital output
robot.Rmi.WriteDOUT(1, OnOff.ON);
robot.Rmi.WriteDOUT(1, OnOff.OFF);

// Read a position register
PositionRegisterData pr = robot.Rmi.ReadPositionRegister(1);
Console.WriteLine($"PR[1]: X={pr.Position.X}");

// Write a position register
Frame newPos = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };
robot.Rmi.WritePositionRegister(1, config, newPos);

Position registers

Complete example

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

public class RmiFramesIo
{
  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();

    /**/
    // --- Controller status ---
    ControllerStatus status = robot.Rmi.GetStatus();
    Console.WriteLine($"Servo ready: {status.ServoReady}");
    Console.WriteLine($"TP mode: {status.TPMode}");

    // --- Admin commands ---
    robot.Rmi.SetOverride(50);
    robot.Rmi.Pause();
    robot.Rmi.Continue();
    robot.Rmi.Reset();

    // --- Position reading ---
    var pos = robot.Rmi.ReadCartesianPosition();
    JointAnglesSample joints = robot.Rmi.ReadJointAngles();
    TcpSpeed speed = robot.Rmi.ReadTcpSpeed();

    // --- User frames and tools ---
    UFrameUToolNumbers current = robot.Rmi.GetUFrameUTool();
    robot.Rmi.SetUFrameUTool(uframe: 1, utool: 2);

    IndexedFrame frame = robot.Rmi.ReadUFrame(1);
    robot.Rmi.WriteUFrame(1, new Frame { X = 100, Y = 200, Z = 0 });

    IndexedFrame tool = robot.Rmi.ReadUTool(1);
    robot.Rmi.WriteUTool(1, new Frame { X = 0, Y = 0, Z = 150 });

    // --- Digital I/O ---
    DigitalInputValue din = robot.Rmi.ReadDIN(5);
    robot.Rmi.WriteDOUT(1, OnOff.ON);

    // --- Position registers ---
    PositionRegisterData pr = robot.Rmi.ReadPositionRegister(1);
    Frame newPos = new Frame { X = 500, Y = 200, Z = 300 };
    MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };
    robot.Rmi.WritePositionRegister(1, config, newPos);
    /**/
  }
}

API reference

Members of Rmi.Data.ControllerStatus :

public class ControllerStatus : RmiResponseBase {
     public ControllerStatus()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Next valid SequenceID when sequence checking is enabled.
    public int NextSequenceId { get; set; }
 
    // Number of UFRAMEs configured.
    public byte NumberUFrame { get; set; }
 
    // Number of UTOOLs configured.
    public byte NumberUTool { get; set; }
 
    // RMI_MOVE program status (1 = aborted).
    public byte ProgramStatus { get; set; }
 
    // RMI motion runtime state (1 = running).
    public byte RMIMotionStatus { get; set; }
 
    // Servo ready state (1 = ready).
    public byte ServoReady { get; set; }
 
    // Single step mode flag (1 = on).
    public byte SingleStepMode { get; set; }
 
    // Teach pendant mode (0 = disabled/AUTO, 1 = enabled/TEACH).
    public byte TPMode { get; set; }
     public override string ToString()
}

Members of Rmi.Data.ControllerErrorText :

public class ControllerErrorText : RmiResponseBase {
     public ControllerErrorText()
     public override bool Equals(object obj)
 
    // Controller error text in the form XXXX-NNN.
    public string ErrorData { get; set; }
     public override int GetHashCode()
     public override string ToString()
}

Members of Rmi.Data.UFrameUToolNumbers :

public class UFrameUToolNumbers : RmiResponseBase {
     public UFrameUToolNumbers()
     public override bool Equals(object obj)
     public override int GetHashCode()
     public override string ToString()
 
    // Current user frame number.
    public byte UFrameNumber { get; set; }
 
    // Current user tool number.
    public byte UToolNumber { get; set; }
}

Members of Rmi.Data.DigitalInputValue :

public class DigitalInputValue : RmiResponseBase {
     public DigitalInputValue()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Port number.
    public short PortNumber { get; set; }
 
    // Port value (0 = OFF, 1 = ON).
    public byte PortValue { get; set; }
     public override string ToString()
}

Members of Rmi.Data.PositionRegisterData :

public class PositionRegisterData : RmiResponseBase {
     public PositionRegisterData()
 
    // Configuration saved in the position register.
    public MotionConfiguration Configuration { get; set; }
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Position saved in the position register.
    public Frame Position { get; set; }
 
    // Register number.
    public short RegisterNumber { get; set; }
     public override string ToString()
}

Members of Rmi.Data.CartesianPosition :

public class CartesianPosition : RmiTimedResponse {
     public CartesianPosition()
 
    // Active configuration at sampling time.
    public MotionConfiguration Configuration { get; set; }
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Cartesian TCP position.
    public Frame Position { get; set; }
     public override string ToString()
}

Members of Rmi.Data.TcpSpeed :

public class TcpSpeed : RmiTimedResponse {
     public TcpSpeed()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Current tool center point speed.
    public double Speed { get; set; }
     public override string ToString()
}

Motion commands

Documentation home

Stream Motion (J519)

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