fanuc-rmi 0.3.0

Simple FANUC RMI client

fanuc-rmi

Python client for FANUC RMI over TCP sockets.

Requirements

• Python >=3.11
• FANUC controller with RMI option enabled
• Network access from this machine to the controller

Install

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

Quick Start

from fanuc_rmi import RobotClient

robot = RobotClient(host="192.168.1.22", startup_port=16001, main_port=16002)
robot.connect()
robot.initialize(uframe=0, utool=1)

print(robot.get_uframe_utool())

robot.close()

Core Behavior

• initialize(uframe, utool) sends:
  • FRC_Reset
  • FRC_Initialize
  • FRC_SetUFrameUTool
• Motion calls (linear_*, joint_relative) include Configuration.UFrameNumber / UToolNumber in each packet.
• Defaults in motion APIs are uframe=0, utool=1.

Motion APIs

# speed override
robot.speed_override(20)

# sequence-ordered wait
robot.wait_time(0.5, sequence_id=1)

# linear relative (mm / deg)
robot.linear_relative(
    {"X": 10, "Y": 0, "Z": 0, "W": 0, "P": 0, "R": 0},
    speed=150,
    sequence_id=2,
    uframe=0,
    utool=1,
)

# linear absolute (mm / deg)
robot.linear_absolute(
    {"X": 540, "Y": -150, "Z": 500, "W": -170, "P": 0, "R": 165},
    speed=150,
    sequence_id=3,
    uframe=0,
    utool=1,
)

# joint relative (deg)
robot.joint_relative(
    {"J1": 0, "J2": 0, "J3": 0, "J4": 0, "J5": 0, "J6": 0, "J7": 0, "J8": 0, "J9": 0},
    speed_percentage=20,
    sequence_id=4,
    uframe=0,
    utool=1,
)

# joint absolute (deg)
robot.joint_absolute(
    {"J1": 0, "J2": 0, "J3": 0, "J4": 0, "J5": 0, "J6": 0},
    speed_percentage=20,
    sequence_id=5,
)

Frame/Tool Selection

There are two ways to set frame/tool values:

1. Immediate controller selection command:

robot.set_uframe_utool(uframe=1, utool=1)

Use this only when robot motion is stopped.

2. Queued TP instructions in the instruction stream:

sid = 1

robot.linear_absolute(pose0, speed=150, sequence_id=sid, uframe=0, utool=1)
sid += 1

robot.set_uframe(frame_number=1, sequence_id=sid)
sid += 1
robot.set_utool(tool_number=1, sequence_id=sid)
sid += 1

robot.linear_absolute(pose1, speed=150, sequence_id=sid, uframe=1, utool=1)

For mixed-frame jobs, use strictly increasing SequenceID values for all queued instructions and moves.

Read APIs

# current pose/joints (also appended to JSONL files)
cartesian = robot.read_cartesian_coordinates()  # ./robot_position_cartesian.jsonl
joints = robot.read_joint_coordinates()         # ./robot_position_joint.jsonl

# active selection
active = robot.get_uframe_utool()

# frame/tool records
uframe_1 = robot.read_uframe_data(1)
utool_1 = robot.read_utool_data(1)

robot.write_uframe_data(2, {"X": 0, "Y": 0, "Z": 0, "W": 0, "P": 0, "R": 0})
robot.write_utool_data(3, {"X": 10, "Y": 0, "Z": 120, "W": 0, "P": 0, "R": 0})

Numbering Notes

• UFRAME selection supports 0..9.
• UFRAME 0 is the controller world/default frame.
• FRC_ReadUFrameData / FRC_WriteUFrameData are typically used with 1..9.
• UTOOL on this setup is 1..9.

Troubleshooting

If you see RMI_MOVE invalid frame number:

• Confirm the frame exists and is valid on the controller.
• For runtime frame changes, queue set_uframe / set_utool before the move.
• Keep SequenceID monotonic across all packets.
• Do not call set_uframe_utool while motion is active.

Extras

configuration_visualization.py provides a GUI to inspect and visualize FANUC configuration bits (Front/Up/Left/Flip, Turn4/5/6), including loading the latest packet from robot_position_cartesian.jsonl.