fanuc-rmi 0.1.0

Simple FANUC RMI client

FANUC RMI Client

Simple Python client for FANUC RMI with a small CLI and reusable functions.

Install (pip)

1. python3 -m venv .venv
2. source .venv/bin/activate
3. pip install fanuc-rmi

Note: pip install fanuc-rmi works once this package is published to PyPI. If you want, I can add the publish steps.

Basic Use (RobotClient)

from fanuc_rmi import RobotClient

client = RobotClient(
    host="192.168.1.22",
    socket_timeout=100.0,
    reader_timeout=100.0,
)

client.connect()
client.initialize(uframe=0, utool=1)

absolute_position = {"J1": 63.252, "J2": 31.488, "J3": -35.602, "J4": 18.504, "J5": -101.313, "J6": 108.650, "J7": 0.000, "J8": 0.000, "J9": 0.000}
client.joint_absolute(absolute_position, speed_percentage=40)

client.close()

Functions

• RobotClient.connect() / RobotClient.close()
• RobotClient.initialize(uframe=0, utool=1)

Motions (RobotClient)

• linear_relative(relative_displacement, speed) — relative_displacement has X, Y, Z, W, P, R (mm/deg); speed is mm/s.
• linear_absolute(absolute_position, speed) — absolute_position has X, Y, Z, W, P, R; speed is mm/s.
• joint_relative(relative_displacement, speed_percentage) — relative_displacement has J0..J9; speed_percentage is % of max.
• joint_absolute(absolute_position, speed_percentage) — absolute_position has J1..J9; speed_percentage is % of max.

Reads (RobotClient)

• read_cartesian_coordinates(output_path="./robot_position_cartesian.txt") — appends a formatted Cartesian pose line; file auto-created.
• read_joint_coordinates(output_path="./robot_position_joint.txt") — appends a formatted joint pose line; file auto-created.
• request_current_position() — returns the raw response dict.

Lower-Level Imports You can also import specific functions if you prefer:

from fanuc_rmi import joint_absolute, linear_relative

Notes

• Requires Python 3.11+.
• main.py runs the example.
• robot_position_cartesian.txt and robot_position_joint.txt are created automatically when you read positions.