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 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);
        /**/
    }
}

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...
};