Up to now, industrial robots with an open architecture have been applied to several tasks requiring high skills such as machining, sanding, and polishing. As one of the notable results, the open architecture allows system engineers at user side to design a feedback control system to develop robotic applications. However, porting of an application software into different makers’ industrial robots is not easy even though having an open architecture, because the specifications of interface between PC-based controllers and robots are not standardized yet. In this paper, easy transplantation of a robotic application is tried by using ORiN (Open Robot/Resource interface for the Network) middleware interface. The application is the trajectoryfollowing controller with vibrational motion used in a machining robot. First, the removability of undesirable cuspmarks on a flat surface is examined through machining experiments. Then, portability of the controller into a small-sized educational robot VE026A with ORiN SDK (Software Development Kit) is evaluated on a simulation environment calledWINCAPS III. Finally, a 3D printer-like interface is proposed for the machining robot to be controlled based on STL data. The design, implementation, and experimental results are presented.