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FTP overview

FTP provides access to internal controller files including variables, programs, diagnostics, safety status, and current position.

Key features
Quick example
Connection
Limitations
Next steps
API reference

FTP (File Transfer Protocol) provides direct access to the Fanuc controller's internal file system. The SDK uses FTP to transfer files (programs, backups) and to read and decode diagnostic data, variables, registers, and safety status.

Key features

File management: Upload, download, delete, rename files and directories
Variable reading: Read all system variables in bulk from .va files
Registers: Read numeric, position, and string registers
Diagnostics: Safety status, I/O state, current position, error history
Installed features: Detect available options on the controller

Quick example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common.Files.Diagnosis;

  public class Ftp
  {
    static void Main()
    {
      // Create a new Fanuc robot instance
      FanucRobot robot = new FanucRobot();

      // Set connection parameters
      ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
      parameters.Ftp.Enable = true;
      parameters.Ftp.FtpUser = "user";
      parameters.Ftp.FtpPassword = "ftp password";

      // Connect to the robot
      robot.Connect(parameters);

      
      IOState ioState = robot.Ftp.GetIOState();

      // Read a variable
      var variableFiles = robot.Ftp.GetAllVariables();
      foreach (var variableFile in variableFiles)
        foreach (var variable in variableFile.Variables)
          Console.WriteLine($"{variable.Name} = {variable.Value}");

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

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

      // Get current position for each arm (Joints, World position of each tool, user frame positions)
      CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();

      // 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("md:/Backup.va", @"C:\Backup\Backup.va");

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

  }

Connection

static void Main()
{
// Via FanucRobot
var robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
parameters.Ftp.Enable = true;
parameters.Ftp.FtpUser = "";          // usually empty
parameters.Ftp.FtpPassword = "";      // usually empty
parameters.Ftp.FtpTimeoutMs = 30000;  // optional, default is 30 seconds
robot.Connect(parameters);

// Or standalone
var ftp = new FtpClient();
ftp.Connect("192.168.0.1", "", "");
}
}

Click to see the full code

The FtpTimeoutMs property controls the connection, read, and data transfer timeouts. The default is 30,000 ms (30 seconds). Lower it for faster failure detection on unreachable controllers, or raise it for slow networks.

Limitations

Read-only for most data: Variables and diagnostics are read-only via FTP. Use Telnet, SNPX, or CGTP to write values
Slower than SNPX: FTP transfers entire files rather than individual values
No real-time data: Data represents a snapshot at the time of the FTP request

Next steps

File management : Upload, download, delete files
Diagnostics & variables : Safety status, registers, variables

API reference

Class

FtpClientinherits FtpClientBase

C#Python

FTP Client connection to a robot

Member	Type	Description
FtpClient() Constructor		Instanciate a new FTP client connection
Connect(string, string, string, int, int) Method	void	Connect to a robot ip : IP or network name of the robot user : FTP username password : FTP password for username port : FTP port timeoutMs : FTP connection timeout in milliseconds

Class

FtpClientBaseinherits FileClientBase

C#Python

Base class for FTP features

Member	Type	Description
Connected Property read only	bool	Indicates that FTP connection is active
DirectFileHandling Property read only	FtpDirectFileHandling	Contains methods to manipulate files and folders on the controller (upload, download, delete, ...)
IP Property read only	string	Connect robot IP address or host name
Language Property	Languages	Controller language (default is English)
Disconnect() Method	void	Disconnects from FTP server
EnumerateVariableFileNames() Method	string[]	Get the list of all variable file names available on the controller
EnumerateVariableFiles() Method	FtpListItem[]	Get a list of all variable files on controller

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