(The author of this software is not affiliated with FANUC Corporation in any way.)
The Stream Motion function (J519) allows an external device to control a robot’s motion by sending UDP packets through the Ethernet connection between the external device. The robot moves to the commanded position after a very short delay.
This repository includes software to control Fanuc manipulators via the Stream Motion function.
For more information on the protocol please refer to Fanuc's offical documentation.