UnderAutomation.Fanuc 5.4.0

Fanuc Communication SDK

🤖 Effortlessly Communicate with Fanuc robots

The Fanuc SDK enables seamless integration with Fanuc robots for automation, data exchange, and remote control. Ideal for industrial automation, research, and advanced robotics applications.

It allows you to connect to a real robot, but also to ROBOGUIDE.

🔗 More Information: https://underautomation.com/fanuc
🔗 Also available for 🟨 LabVIEW & 🐍 Python

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🚀 TL;DR (Too Long; Didn’t Read)

• ✔️ PCDK Alternative: No need for Fanuc’s PCDK or Robot Interface
• 📖 Read/Write Variables: Access and modify system variables.
• 🔄 Register Control: Read/write registers for positions, numbers, and strings.
• 🎬 Program Control: Run, abort, and reset programs.
• 🔔 Alarm Management: Reset alarms and view alarm history.
• ⚡ I/O Control: Manage ports and I/O values (UI, UO, GI, GO, etc.).
• 🔍 State Monitoring: Get safety status, position, diagnostics, and more.
• 📂 File Management: Easily manipulate files.
• 🌐 CGTP Web Server: Access registers, I/O, programs, and variables via HTTP.
• 🏎️ Remote motion: Remote move the robot.
• 🔄 Stream Motion: Real-time joint streaming at up to 250 Hz.
• 📐 Kinematics Calculations: Perform forward and inverse kinematics offline.

No additional installations or Fanuc options are required to use this SDK.

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📥 Download Example Applications

Explore the Fanuc SDK with fully functional example applications and precompiled binaries for various platforms. See Github releases

🔹 Windows Forms Application (Full Feature Showcase)

A Windows Forms application demonstrating all the features of the library.

📌 Download: 📥 UnderAutomation.Fanuc.Showcase.Forms.exe

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**Read variables 😗*

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**Move the robot 😗*

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**High speed Read & Write registers 😗*

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Live remote control with Jostick or 3D Mouse:

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TP Editor with breakpoints:

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Forward and Inverse Kinematics:

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📌 Features

🖥️ 1. Remote Control via Telnet KCL

Telnet KCL (Keyboard Command Line) allows sending commands to control the robot remotely:no additional options needed on the controller.

🔹 Reset alarms

robot.Telnet.Reset();

🔹 Start, pause, hold, abort programs

robot.Telnet.Run("MyProgram");
robot.Telnet.Pause("MyProgram");
robot.Telnet.Hold("MyProgram");
robot.Telnet.Continue("MyProgram");
robot.Telnet.Abort("MyProgram", force: true);

🔹 Set variables dynamically

robot.Telnet.SetVariable("my_variable", 42);
robot.Telnet.SetVariable("$RMT_MASTER", 1);

🔹 Control robot I/O ports

// Set an output port (example: DOUT port 2 = 0)
robot.Telnet.SetPort(KCLPorts.DOUT, 2, 0);

// Simulate an input port (example: DIN port 3 = 1)
robot.Telnet.Simulate(KCLPorts.DIN, 3, 1);
robot.Telnet.Unsimulate(KCLPorts.DIN, 3);

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🚀 2. High-Speed Data Exchange via SNPX (RobotIF)

SNPX (also known as SRTP/RobotIF) enables fast, structured data communication with the robot.
It is used to read/write registers, monitor alarms, and check robot status.

🔹 Read & write position registers

// Read position register 1
Position register1 = robot.Snpx.PositionRegisters.Read(1);

// Write a Cartesian position to register 2
robot.Snpx.PositionRegisters.Write(2, new CartesianPosition { X = 100, Y = 50, Z = 25, W = 180, P = 0, R = 0 });

🔹 Read & write numeric registers

// Read register R[1]
float value = robot.Snpx.NumericRegisters.Read(1);

// Write a value to R[2]
robot.Snpx.NumericRegisters.Write(2, 123.45f);

🔹 Read and control robot signals (UI, UO, GI, GO)

// Read a User Input (UI) state
bool UI1 = robot.Snpx.UI.Read(1);

// Set a User Output (UO) signal
robot.Snpx.UO.Write(3, true);

🔹 Read & write variables

// Write a system variable
robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);
robot.Snpx.StringSystemVariables.Write("$ALM_IF.$LAST_ALM", "No alarms");
robot.Snpx.PositionSystemVariables.Write("$CELL_FLOOR", cellFloor);

// Write a Karel program variable
robot.Snpx.IntegerSystemVariables.Write("$[KarelProgram]KarelVariable", 1);

Clear alarms

// Clear alarms
robot.Snpx.ClearAlarms();

Get current position

// Read current joint and cartesian position
Position position = robot.Snpx.CurrentPosition.ReadWorldPosition();

// Read User frame cartesian position
robot.Snpx.CurrentPosition.ReadUserFramePosition(1);

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📂 3. File & Variable Management via FTP Memory Access

The SDK provides direct FTP access to the robot's memory for file transfer, variable reading, and configuration management.

🔹 Upload, download, and delete files

// Upload a TP program to the controller
robot.Ftp.DirectFileHandling.UploadFileToController(@"C:\Programs\MyPrg.tp", "md:/MyPrg.tp");

// Download a file from the robot
robot.Ftp.DirectFileHandling.DownloadFileFromController(@"C:\Backup\Backup.va", "md:/Backup.va");

// Delete a file on the robot
robot.Ftp.DirectFileHandling.DeleteFile("md:/OldProgram.tp");

🔹 Read all declared variables

var allVariables = robot.Ftp.GetAllVariables();
foreach (var variable in allVariables)
{
    Console.WriteLine($"{variable.Name} = {variable.Value}");
}

🔹 Read known system variables

// Read system variable $RMT_MASTER
int remoteMode = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

🔹 Check robot safety status

SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

🔹 Retrieve the robot's current position

CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();
GroupPosition group = currentPosition.GroupsPosition[0];
Console.WriteLine($"Cartesian Position: X={group.WorldPositions[0].X}, Y={group.WorldPositions[0].Y}, Z={group.WorldPositions[0].Z}");
Console.WriteLine($"Joint Position: J1={group.JointsPosition.J1}, J2={group.JointsPosition.J2}");

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🔧 Configuration

✅ Enable Telnet KCL

1. Go to SETUP > Host Comm
2. Select TELNET and press [DETAIL]
3. Set a password and restart the robot

✅ Enable FTP Memory Access

1. Go to SETUP > Host Comm > FTP
2. Set a username & password
3. Perform a cold start

✅ Enable SNPX

• If Your Robot Uses "FANUC America Corp." Parameters (R650 FRA): You need to enable option R553 ("HMI Device SNPX") in the robot's software configuration.

• If Your Robot Uses "FANUC Ltd." Parameters (R651 FRL): No additional option is required:SNPX is included by default.

🌐 4. CGTP Web Server Protocol

CGTP (Controller Gateway Transfer Protocol) communicates with the robot controller's built-in HTTP web server. It provides a comprehensive API for program management, variable access, register operations, I/O control, and kinematics.

🔹 Read & write variables

string value = robot.Cgtp.ReadVariableAsString("$MCR.$GENOVERRIDE");
robot.Cgtp.WriteVariable("$MCR.$GENOVERRIDE", 50);

🔹 Register access

// Numeric registers
robot.Cgtp.WriteNumericRegisterAsInteger(1, 42);
var reg = robot.Cgtp.ReadNumericRegisterWithComment(1);

// String registers
robot.Cgtp.WriteStringRegister(1, "Hello CGTP");

🔹 Program control

robot.Cgtp.SelectProgram("MAIN", 1);
robot.Cgtp.RunProgram("MAIN");
robot.Cgtp.PauseAllPrograms();
robot.Cgtp.AbortTask("MAIN");

🔹 List programs

// List all TP programs on the controller
string[] allTp = robot.Cgtp.ListTpPrograms();

// List Karel macros only
string[] macros = robot.Cgtp.ListPrograms(CgtpProgramType.Karel, CgtpProgramSubType.Macro);

🔹 Source code editing (firmware V9.10+)

// Insert a line before line 3
robot.Cgtp.InsertSourceLine("MY_PROGRAM", "L P[5] 100mm/sec FINE", 3);

// Replace line 5
robot.Cgtp.ReplaceSourceLine("MY_PROGRAM", "J P[1] 50% FINE", 5);

// Delete 2 lines starting at line 4
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 4, 2);

🔹 I/O control

int ioValue = robot.Cgtp.ReadIo(CgtpIoPortType.DO, 1);
robot.Cgtp.WriteIo(CgtpIoPortType.DO, 1, 1);
robot.Cgtp.SimulateIo(CgtpIoPortType.DI, 3);
robot.Cgtp.UnsimulateIo(CgtpIoPortType.DI, 3);

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🔄 5. Stream Motion : Real-Time Joint Streaming

Stream Motion enables real-time joint streaming at up to 250 Hz, providing precise motion control for advanced applications.

🔹 Connect and start streaming

var parameters = new ConnectionParameters("192.168.0.1");
parameters.StreamMotion.Enable = true;
robot.Connect(parameters);

robot.StreamMotion.Start();

🔹 Send motion commands

robot.StreamMotion.SendJointCommand(
    new MotionData { J1 = 10, J2 = 20, J3 = 30, J4 = 0, J5 = -45, J6 = 90 },
    isLastData: false
);

🔹 Monitor state at high frequency

robot.StreamMotion.StateReceived += (sender, e) =>
{
    var state = e.State;
    Console.WriteLine($"J1={state.JointPosition.J1:F3}° Ready={state.Status.ReadyForCommands}");
};

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🏎️ 6. Remote Motion via RMI

RMI (Remote Motion Interface) allows sending motion commands to the robot, including linear, joint, and circular motions.

🔹 Initialize and move

robot.Rmi.Initialize();

Frame target = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };

robot.Rmi.LinearMotion(
    sequenceId: 1, config: config, position: target,
    speedType: SpeedType.MmSec, speed: 100,
    termType: TerminationType.Fine, termValue: 0,
    acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null
);

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📐 Kinematics Calculations:

The SDK includes tools for performing forward and inverse kinematics calculations offline, allowing you to compute the robot's end-effector position based on joint angles and vice versa, from DH parameters.

using UnderAutomation.Fanuc.Kinematics;

JointsPosition position = new JointsPosition(10, 20, 120, 0, 0, 25);

// ---- Get DH parameters ----
// Example: CRX-10iA/L
DhParameters dh = new DhParameters(-540, 150, -160, 0, 710, 0);

// From a known arm model
dh = DhParameters.FromArmKinematicModel(ArmKinematicModels.CRX10iA);

// From OPW parameters: M10iA/7L
dh = DhParameters.FromOpwParameters(0.15, -0.20, 0.60, 0.86, 0.10);

// From an online robot (SYSMOTN file)
dh = DhParameters.FromSymotnFile(robot.Ftp.KnownVariableFiles.GetSymotnFile())[0];

// ---- Forward kinematics ----
CartesianPosition pose = KinematicsUtils.ForwardKinematics(position, dh);

// ---- Inverse kinematics with multiple solutions ----
JointsPosition[] positions = KinematicsUtils.InverseKinematics(pose, dh);

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🛠 Installation

1️⃣ Get the SDK

Choose the installation method that works best for you:

Method	NuGet (Recommended)	Direct Download
How to Install	Install via NuGet. See on Nuget	Download and reference the DLL manually
	dotnet add package UnderAutomation.Fanuc	📥 Download ZIP

2️⃣ Reference the SDK in Your Code

using UnderAutomation.Fanuc;

3️⃣ Connect to Your Robot

var robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
parameters.Language = Languages.English; // Japanese and Chinese controllers are also supported

parameters.Telnet.Enable = true;
parameters.Telnet.TelnetKclPassword = "your_telnet_password";

parameters.Ftp.Enable = true;
parameters.Ftp.FtpUser = "";
parameters.Ftp.FtpPassword = "";

parameters.Snpx.Enable = true;

parameters.Rmi.Enable = true;

robot.Connect(parameters);

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🔍 Compatibility

✅ Supported Robots: R-J3iB, R-30iA, R-30iB
✅ Operating Systems: Windows, Linux, macOS
✅ .NET Versions: .NET Framework (≥3.5), .NET Standard, .NET Core, .NET 5/6/8/9

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📢 Contributing

We welcome contributions! Feel free to:

• Report issues via GitHub Issues
• Submit pull requests with improvements
• Share feedback & feature requests

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📜 License

⚠️ This SDK requires a commercial license.
🔗 Learn more: UnderAutomation Licensing

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📬 Need Help?

If you have any questions or need support:

• 📖 Check the Docs: Documentation
• 📩 Contact Us: Support