> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/fanuc.md).

# Fanuc

Read the pose of Fanuc robots.

Fanuc robots can be **read, not moved**, from the Integration Flow. You'll find the nodes under **fanuc** in the palette.

{% hint style="warning" %}
**RMI is required.** The robot controller needs the Fanuc **RMI** (Remote Motion Interface) option. Check that it is installed on your controller before you start.
{% endhint %}

## Connect

Add a **Fanuc Connection** configuration node:

| Setting | Default         |
| ------- | --------------- |
| Host    | `192.168.100.3` |
| Port    | `80`            |

## Nodes

| Node     | What it does                                                           |
| -------- | ---------------------------------------------------------------------- |
| Get Pose | Reads the current pose. Outputs `[X, Y, Z, W, P, R]` in `msg.payload`. |

Choose the **world** frame (default) or the **user** frame in the node. The joint values are available in `msg.joints`, and the resolved frame in `msg.frame`.

Moving a Fanuc robot from the Integration Flow is not supported. Program the motion on the robot, or send the result to it through a [PLC](/docs/overview/hands-on/integrating-your-robot/integration-flow/plcs.md) or [OPC UA](/docs/overview/hands-on/integrating-your-robot/integration-flow/protocols/opc-ua.md).

## Coordinate convention

Fanuc uses the **Fanuc (sxyz)** rotation convention, with rotations as W, P, R. Select it in the Product UI settings at `http://[serial-number].local:3000/settings`, so poses arrive in the form your Fanuc robot program expects. See [Coordinate Conventions](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).