Is it possible to control fanuc robot without R-632 and R-648?

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Currently, I'm working on a project where I use ROS-I to control fanuc robot to move to a specific target position with moveit planning the trajectory. It works well in both moveit and gazebo. However, when I am going to try the real robot, there is a prerequisite on R-632 Karel and R-648 User Socket Message. I know these two are software from Fanuc but they are too expensive to afford. Do you know any alternative ways? THX