Motion commands

robot.Connect(parameters);
robot.Rmi.Initialize();
// Linear motion to a Cartesian target (tool 1, frame 0)
var move = new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 100,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, tool: 1, frame: 0)
};
robot.Rmi.SendTpInstruction(move).WaitForCompletion();

// Incremental linear motion (delta from current position)
var inc = new LinearRelativeTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 50,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(0, 0, -50, 0, 0, 0, 1, 0)
};
robot.Rmi.SendTpInstruction(inc).WaitForCompletion();

// Linear motion with joint-angle target representation
var jrep = new LinearMotionJRepTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 80,
    TermType = RmiTerminationType.Fine,
    Joints = new JointsPosition(10, -20, 30, 0, 60, 0)
};
robot.Rmi.SendTpInstruction(jrep).WaitForCompletion();

// CNT blending: chain motions without stopping
var p1 = new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 200,
    TermType = RmiTerminationType.Cnt,
    TermValue = 100,
    Target = new CartesianPositionWithUserFrame(600, 0, 400, 0, 90, 0, 1, 0)
};
var p2 = new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 200,
    TermType = RmiTerminationType.Fine,  // last motion must be Fine (or NoBlend = true)
    Target = new CartesianPositionWithUserFrame(700, 0, 350, 0, 90, 0, 1, 0)
};
robot.Rmi.SendTpInstruction(p1);
robot.Rmi.SendTpInstruction(p2).WaitForCompletion();
robot.Rmi.Abort();
robot.Disconnect();

robot.Connect(parameters);
robot.Rmi.Initialize();
// Joint motion with Cartesian target, percent speed
var cart = new JointMotionTpInstruction
{
    SpeedType = RmiJointSpeedType.Percent,
    Speed = 10,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, tool: 1, frame: 0)
};
robot.Rmi.SendTpInstruction(cart).WaitForCompletion();

// Joint motion with joint-angle target representation
var jrep = new JointMotionJRepTpInstruction
{
    SpeedType = RmiJointSpeedType.Percent,
    Speed = 5,
    TermType = RmiTerminationType.Fine,
    Joints = new JointsPosition(10, -20, 30, 0, 60, 0)
};
robot.Rmi.SendTpInstruction(jrep).WaitForCompletion();

// Incremental joint motion (joint-angle delta)
var relJrep = new JointRelativeJRepTpInstruction
{
    SpeedType = RmiJointSpeedType.Percent,
    Speed = 5,
    TermType = RmiTerminationType.Fine,
    Joints = new JointsPosition(0, 0, 0, 0, 5, 0)   // rotate J5 by 5 degrees
};
robot.Rmi.SendTpInstruction(relJrep).WaitForCompletion();
robot.Rmi.Abort();
robot.Disconnect();

robot.Connect(parameters);
robot.Rmi.Initialize();
// Circular motion: define a via-point and a destination
var arc = new CircularMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 80,
    TermType = RmiTerminationType.Fine,
    Via = new CartesianPositionWithUserFrame(600, 100, 350, 0, 90, 0, tool: 1, frame: 0),
    Target = new CartesianPositionWithUserFrame(700, 0, 300, 0, 90, 0, tool: 1, frame: 0)
};
robot.Rmi.SendTpInstruction(arc).WaitForCompletion();

// Incremental circular motion (via and target are deltas)
var arcRel = new CircularRelativeTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 60,
    TermType = RmiTerminationType.Fine,
    Via = new CartesianPositionWithUserFrame(50, 50, 0, 0, 0, 0, 1, 0),
    Target = new CartesianPositionWithUserFrame(100, 0, 0, 0, 0, 0, 1, 0)
};
robot.Rmi.SendTpInstruction(arcRel).WaitForCompletion();
robot.Rmi.Abort();
robot.Disconnect();

robot.Connect(parameters);
robot.Rmi.Initialize();
// Spline motion requires MajorVersion >= 7 (firmware V9.40P/54 or later).
// The controller will not execute the first spline segment until it receives
// a second instruction (motion or non-motion) after the last spline point.

robot.Rmi.SendTpInstruction(new SplineMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 200,
    TermType = RmiTerminationType.Cnt,
    TermValue = 100,
    Target = new CartesianPositionWithUserFrame(500, 100, 300, 0, 90, 0, 1, 0)
});
robot.Rmi.SendTpInstruction(new SplineMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 200,
    TermType = RmiTerminationType.Cnt,
    TermValue = 100,
    Target = new CartesianPositionWithUserFrame(550, 200, 320, 0, 90, 0, 1, 0)
});
robot.Rmi.SendTpInstruction(new SplineMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 200,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(600, 100, 300, 0, 90, 0, 1, 0)
});

// Send a non-spline instruction to flush the spline buffer and trigger execution
robot.Rmi.SendTpInstruction(new WaitTimeTpInstruction { Seconds = 0.1 })
     .WaitForCompletion();

// Spline with joint-angle representation
robot.Rmi.SendTpInstruction(new SplineMotionJRepTpInstruction
{
    SpeedType = RmiJointSpeedType.Percent,
    Speed = 50,
    TermType = RmiTerminationType.Cnt,
    TermValue = 100,
    Joints = new JointsPosition(10, -20, 30, 0, 60, 0)
});
robot.Rmi.SendTpInstruction(new SplineMotionJRepTpInstruction
{
    SpeedType = RmiJointSpeedType.Percent,
    Speed = 50,
    TermType = RmiTerminationType.Fine,
    Joints = new JointsPosition(15, -15, 35, 5, 55, 5)
});
robot.Rmi.SendTpInstruction(new WaitTimeTpInstruction { Seconds = 0.1 })
     .WaitForCompletion();
robot.Rmi.Abort();
robot.Disconnect();

robot.Connect(parameters);
robot.Rmi.Initialize();
// Wait for digital input DI[1] to turn ON before continuing
robot.Rmi.SendTpInstruction(new WaitDinTpInstruction
{
    PortNumber = 1,
    Value = RmiOnOff.ON
});

// Wait 0.5 seconds
robot.Rmi.SendTpInstruction(new WaitTimeTpInstruction { Seconds = 0.5 });

// Switch to UFRAME 2 for the next motions
robot.Rmi.SendTpInstruction(new SetUFrameTpInstruction { FrameNumber = 2 });

// Switch to UTOOL 3
robot.Rmi.SendTpInstruction(new SetUToolTpInstruction { ToolNumber = 3 });

// Activate payload schedule 1
robot.Rmi.SendTpInstruction(new SetPayloadTpInstruction { ScheduleNumber = 1 });

// Call a TP program (requires MajorVersion >= 4)
robot.Rmi.SendTpInstruction(new CallProgramTpInstruction { ProgramName = "GRIPPER_OPEN" })
     .WaitForCompletion();
robot.Rmi.Abort();
robot.Disconnect();

robot.Connect(parameters);
robot.Rmi.Initialize();
// Send several instructions. Each returns immediately.
for (int i = 0; i < 5; i++)
{
    var instr = new LinearMotionTpInstruction
    {
        SpeedType = RmiLinearSpeedType.MmSec,
        Speed = 100,
        TermType = RmiTerminationType.Fine,
        Target = new CartesianPositionWithUserFrame(500 + i * 20, 200, 300, 0, 90, 0, 1, 0)
    };
    RmiInstructionResponse r = robot.Rmi.SendTpInstruction(instr);

    // Subscribe to status changes
    r.StatusChanged += status =>
        Console.WriteLine($"  Seq {r.SequenceId}: {status}");
}

// Wait for all instructions to complete
foreach (RmiInstructionResponse r in robot.Rmi.Instructions)
    r.WaitForCompletion();

// Print final results
foreach (RmiInstructionResponse r in robot.Rmi.Instructions)
{
    if (r.Status == RmiInstructionStatus.Error)
        Console.WriteLine($"  Seq {r.SequenceId} failed: {r.ErrorText}");
    else
        Console.WriteLine($"  Seq {r.SequenceId} completed OK");
}

// Remove completed instructions from the tracking list
robot.Rmi.ClearCompletedInstructions();
robot.Rmi.Abort();
robot.Disconnect();