KCL commands

robot.Cgtp.Kcl sends KCL commands (Karel Command Language) through the web server of the controller. It has the same methods and the same result types as the Telnet KCL client robot.Telnet, without the Telnet protocol.

Use it instead of Telnet KCL for new developments. Telnet KCL is a legacy protocol: it is not secured, and its behavior changes with the firmware version and on ROBOGUIDE.

Why CGTP instead of Telnet

Move from Telnet to CGTP

Replace robot.Telnet by robot.Cgtp.Kcl. The method names, the parameters and the result types do not change. You can remove the Telnet parameters of the connection.

static void Main()
{
FanucRobot robot = new FanucRobot();

// CGTP is enabled by default: no Telnet password and no Telnet setup on the robot
robot.Connect("192.168.0.1");

// Before: robot.Telnet.SetVariable("$RMT_MASTER", 1);
SetVariableResult result = robot.Cgtp.Kcl.SetVariable("$RMT_MASTER", 1);
if (!result.Succeed)
{
    Console.WriteLine(result.ErrorText);
}

// Before: robot.Telnet.GetTaskInformation("MY_PROGRAM");
TaskInformationResult task = robot.Cgtp.Kcl.GetTaskInformation("MY_PROGRAM");
Console.WriteLine($"{task.TaskStatus} at line {task.CurrentLine}");
}
}

Unsafe commands

Some KCL commands are sent in Unsafe mode through CGTP. The controller executes them but returns no status and no error. The result object always reports a success (Succeed is true, ErrorText is empty), even if the controller refused the command, for example because the program does not exist or because the device has no motion control.

These commands need firmware V9.30 or later:

The other commands (GetVariable, SetVariable, SetPort, Simulate, Reset, GetTaskInformation, breakpoints, SendCustomCommand...) return the answer of the controller, like with Telnet. The controller refuses some commands when they come from the web server: Succeed is then false and ErrorText gives the message of the controller.

After an Unsafe command, check the state of the controller yourself if your application depends on it: read the task status with GetTaskInformation(), or read a variable or an I/O.

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Unsafe command: the result is always a success, even if the controller refused the command
robot.Cgtp.Kcl.Pause("MY_PROGRAM");

// Check the effect with a command that returns a result
TaskInformationResult task = robot.Cgtp.Kcl.GetTaskInformation("MY_PROGRAM");
if (task.TaskStatus != TaskStatus.Paused)
{
    Console.WriteLine("The program is not paused: " + task.TaskStatusStr);
}

// To start a program, use RunProgram instead of Kcl.Run:
// it can start at a given line and throws a CgtpException if the controller refuses the command
robot.Cgtp.RunProgram("MY_PROGRAM", lineNum: 10);
}
}

Start a program: prefer RunProgram

To start a program, prefer robot.Cgtp.RunProgram(name, lineNum) to robot.Cgtp.Kcl.Run(name), when the firmware of the controller is V9.30 or later:

• It can start the program at a given line. Kcl.Run always starts at the first executable line.
• It throws a CgtpException when the controller refuses the command. Kcl.Run reports a success in all cases.

See Program management for the other program functions of CGTP (select, abort, pause).

API reference