fanuc-rmi 0.1.1

Simple FANUC RMI client

FANUC RMI Client

Python client for FANUC RMI with reusable functions (no CLI entrypoint).

Install (pip)

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

Quick Start

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()

Configuration (RobotClient args)

• host: controller IP address
• startup_port: startup port, default 16001
• main_port: main port, default 16002
• connect_timeout: seconds for TCP connect
• socket_timeout: seconds for socket ops
• reader_timeout: seconds to wait for a JSON response
• attempts: number of retry attempts
• retry_delay: seconds between retries
• startup_pause: seconds between startup and main connections

API Overview

• RobotClient(...): create a client, no network calls; returns a client instance
• RobotClient.connect(): connects to startup, sends FRC_Connect, then connects to main; prints responses; returns None
• RobotClient.initialize(uframe=0, utool=1): sends FRC_Reset, FRC_Initialize, FRC_SetUFrameUTool; prints responses; returns None
• RobotClient.close(): sends FRC_Disconnect and closes sockets; returns None

Motions (RobotClient)

• linear_relative(relative_displacement, speed): linear move relative to current pose; X, Y, Z, W, P, R (mm/deg); speed in mm/s; returns None
• linear_absolute(absolute_position, speed): linear move to absolute pose; X, Y, Z, W, P, R; speed in mm/s; returns None
• joint_relative(relative_displacement, speed_percentage): joint move relative; J0..J9; speed_percentage is % of max; returns None
• joint_absolute(absolute_position, speed_percentage): joint move to absolute; J1..J9; speed_percentage is % of max; returns None

Reads (RobotClient)

• read_cartesian_coordinates(output_path="./robot_position_cartesian.txt"): sends FRC_ReadCartesianPosition, prints response, appends formatted pose line; returns None
• read_joint_coordinates(output_path="./robot_position_joint.txt"): sends FRC_ReadJointAngles, prints response, appends formatted joint line; returns None
• request_current_position(): sends FRC_ReadCartesianPosition and returns the raw response dict

Output Files

• robot_position_cartesian.txt: created automatically when reading Cartesian poses
• robot_position_joint.txt: created automatically when reading joint poses

Notes

• Requires Python 3.11+.
• If you cloned the repo, main.py is a runnable example.