Program control via Telnet

Run, pause, hold, continue, and abort TP and Karel programs remotely using Telnet KCL commands.

Run, pause, hold, continue
Abort, clear, and reset
Complete example
API reference

Run, pause, hold, continue, and abort TP and Karel programs remotely using Telnet KCL commands.

Run, pause, hold, continue

// Run the default program
robot.Telnet.Run();

// Run a specific program
robot.Telnet.Run("MyProgram");

// Pause a running program (stops at the next fine point)
robot.Telnet.Pause("MyProgram");

// Force pause immediately
robot.Telnet.Pause("MyProgram", force: true);

// Hold a program (stops at the current position)
robot.Telnet.Hold("MyProgram");

// Resume a paused or held program
robot.Telnet.Continue("MyProgram");

Pause stops at the next motion fine point. Hold decelerates the robot to stop at the current position.

Abort, clear, and reset

// Abort a specific program
robot.Telnet.Abort("MyProgram", force: true);

// Abort all running programs
robot.Telnet.AbortAll(force: true);

// Clear all programs from memory
robot.Telnet.ClearAll();

// Clear a specific program
robot.Telnet.ClearProgram("MyProgram");

// Clear variables of a specific program
robot.Telnet.ClearVars("MyProgram");

// Reset alarms and re-enable servo power
robot.Telnet.Reset();

The Reset() command has the same effect as the FAULT RESET button on the operator panel. The error message remains displayed if the error condition still exists.

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Telnet;

public class TelnetProgramControl
{
  static void Main()
  {
    FanucRobot robot = new FanucRobot();
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Telnet.Enable = true;
    parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
    robot.Connect(parameters);

    /**/
    // Run a program
    robot.Telnet.Run("MyProgram");

    // Pause (stops at next fine point)
    robot.Telnet.Pause("MyProgram");

    // Hold (decelerates and stops at current position)
    robot.Telnet.Hold("MyProgram");

    // Resume a paused or held program
    robot.Telnet.Continue("MyProgram");

    // Abort a program
    robot.Telnet.Abort("MyProgram", force: true);

    // Abort all running programs
    robot.Telnet.AbortAll(force: true);

    // Reset alarms (same as FAULT RESET button)
    robot.Telnet.Reset();

    // Clear program variables
    robot.Telnet.ClearVars("MyProgram");
    /**/
  }
}

API reference

Members of Common.Kcl.RunResult :

public class RunResult : ProgramCommandResult {
     public RunResult()
 
    // During implementation, return true if it is assumed that the frame has finished being received.
    protected override bool FromResult(string data)
}

Members of Common.Kcl.ProgramCommandResult :

public class ProgramCommandResult : Result {
     public ProgramCommandResult()
 
    // Indicates that responses have been completed and received
    protected override void EndReceive()
 
    // During implementation, return true if it is assumed that the frame has finished being received.
    protected override bool FromResult(string data)
}

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Variables & I/O via Telnet

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Program control via Telnet

Run, pause, hold, continue

Abort, clear, and reset

Complete example

API reference