--- title: Fanuc SDK documentation --- # Fanuc SDK documentation ## Get started - [Get started with .NET](/fanuc/documentation/get-started-net) : Add the Fanuc SDK to a C# or VB.NET project from NuGet or as a DLL, and write a first program for a Fanuc controller or ROBOGUIDE. One managed DLL, .NET Framework 3.5 to .NET Standard 2.1. - [Get started with Python](/fanuc/documentation/get-started-python) : Install the Fanuc SDK from PyPI and control a Fanuc controller or ROBOGUIDE from Python 3.7 to 3.13, on Windows, Linux and macOS. Same features as the .NET library, with Python names. - [Get started with LabVIEW](/fanuc/documentation/get-started-labview) : Control a Fanuc robot from LabVIEW 2010 to 2024 with the VIs of UnderAutomation.Fanuc.lvlib: Telnet KCL, FTP and SNPX. Nothing to install on the controller. - [Get started with Matlab](/fanuc/documentation/get-started-matlab) : Load the .NET DLL of the Fanuc SDK in Matlab with NET.addAssembly, then read registers, positions and I/O of a Fanuc controller from a Matlab script. - [Try the SDK with the demo application](/fanuc/documentation/demo-app) : A Windows application, one executable and open source, that calls the features of the SDK. Test what your Fanuc controller answers before you write any code. - [Connect to your robot](/fanuc/documentation/connect) : The protocols of the SDK, their options and setup on the controller, the connection parameters, and the connection to a real Fanuc robot or to ROBOGUIDE. - [Test with ROBOGUIDE](/fanuc/documentation/simulator) : Develop without a real robot. Connect the SDK to a virtual robot of FANUC ROBOGUIDE with the folder of the robot, like to a real controller. - [Licensing](/fanuc/documentation/license) : The 30 day trial, the license key and RegisterLicense, the license states, the maintenance and the source license of the Fanuc SDK. - [AI agent skills](/fanuc/documentation/ai-skills) : Install the skill of the Fanuc SDK in Claude Code, Codex, GitHub Copilot or Cursor, for C# or Python. The agent then answers with the documentation and the API of your SDK version. ## CGTP - [CGTP overview](/fanuc/documentation/cgtp) : CGTP is an HTTP-based protocol providing the richest feature set: program management, variables, registers, I/O, kinematics, batch operations, and file access. - [Program management](/fanuc/documentation/cgtp-programs) : Create, delete, rename, run, pause, abort programs and manage their attributes (comment, owner, subtype) via CGTP. - [Registers & variables](/fanuc/documentation/cgtp-registers-variables) : Read and write numeric, position, and string registers, system variables, and perform batch operations via CGTP. - [Inputs & Outputs](/fanuc/documentation/cgtp-io) : Read, write, simulate, and unsimulate digital, analog, group, and robot I/O ports via CGTP. - [Position & kinematics](/fanuc/documentation/cgtp-position-kinematics) : Read current Cartesian and joint positions, and compute forward and inverse kinematics directly on the controller via CGTP. - [Alarms, comments & files](/fanuc/documentation/cgtp-alarms-files) : Manage user alarms, read/write register and I/O comments, list and download files from the controller via CGTP. - [KCL commands](/fanuc/documentation/cgtp-kcl) : Send KCL commands through the web server instead of Telnet. Unsafe commands without result, and when to use RunProgram. ## SNPX - [SNPX overview](/fanuc/documentation/snpx) : SNPX (also known as RobotIF or SRTP) is a high-speed protocol for reading and writing registers, variables, I/O signals, alarms, and positions in less than 2 ms. - [Registers](/fanuc/documentation/snpx-registers) : Read and write numeric registers (R[]), position registers (PR[]), string registers (SR[]), and flags (F[]) via SNPX. - [Inputs & Outputs](/fanuc/documentation/snpx-io) : Read and write digital signals (SDI, SDO, RDI, RDO, UI, UO, SI, SO, WI, WO) and numeric I/O (GI, GO, AI, AO) via SNPX. - [System variables](/fanuc/documentation/snpx-variables) : Read and write integer, real, position, and string system variables on the Fanuc controller via SNPX. - [Current position](/fanuc/documentation/snpx-position) : Read the current robot position in world coordinates or user frame coordinates, for single or multi-group controllers. - [Alarms & task status](/fanuc/documentation/snpx-alarms-tasks) : Read active alarms, alarm history, clear alarms, monitor running tasks, and read/write comments via SNPX. - [Batch reading](/fanuc/documentation/snpx-batch) : Read groups of registers, variables, or signals in a single command for maximum performance using SNPX batch assignments. ## Telnet - [Telnet overview](/fanuc/documentation/telnet) : Telnet KCL (Keyboard Command Line) sends commands to a Fanuc robot: run programs, reset alarms, read and write variables, control I/O ports. - [Enable Telnet on your robot](/fanuc/documentation/telnet-enable-on-robot) : TELNET is natively available on ROBOGUIDE and all Fanuc robots without any option. Learn how to enable it step by step. - [Program control via Telnet](/fanuc/documentation/telnet-program-control) : Run, pause, hold, continue, and abort TP and Karel programs remotely using Telnet KCL commands. - [Variables & I/O via Telnet](/fanuc/documentation/telnet-variables-io) : Read and write system variables, set output ports, simulate and unsimulate input ports using Telnet KCL. - [Debugging & breakpoints](/fanuc/documentation/telnet-debugging) : Add, remove, and manage breakpoints on TP and Karel programs. Step through code line by line using Telnet KCL. ## FTP - [FTP overview](/fanuc/documentation/ftp) : FTP provides access to internal controller files including variables, programs, diagnostics, safety status, and current position. - [File management](/fanuc/documentation/ftp-file-management) : Upload, download, delete, rename files and directories on the Fanuc robot controller via FTP. - [Diagnostics & variables](/fanuc/documentation/ftp-diagnostics) : Read safety status, current position, I/O state, installed features, error history, registers, and system variables via FTP. ## RMI - [RMI overview](/fanuc/documentation/rmi) : RMI (Remote Motion Interface) is a TCP-based protocol for sending motion commands, managing frames, and controlling the robot remotely. - [Motion commands](/fanuc/documentation/rmi-motion) : Send linear, joint, and circular motion commands with configurable speed, termination type, and acceleration via RMI. - [Frames, I/O & status](/fanuc/documentation/rmi-frames-io) : Manage user frames and tools, read/write I/O, read positions, set speed override, and get controller status via RMI. ## Stream Motion - [Stream Motion overview](/fanuc/documentation/stream-motion) : Stream Motion (J519 option) gives the position of the robot at every communication cycle (2 to 8 ms). Requirements, TP program, protocol versions and quick start. - [Connection, status & session](/fanuc/documentation/stream-motion-session) : Connect to the robot, read its status and its velocity, acceleration and jerk limits, and run one or several Stream Motion sessions. - [Send trajectories](/fanuc/documentation/stream-motion-trajectories) : Queue joint or Cartesian trajectories, send your own positions, and control the motion with override, pause and abort. - [Real-time control](/fanuc/documentation/stream-motion-real-time) : Make the robot follow a target that changes at any time, or compute the position of the robot at every cycle with a callback. - [I/O during motion](/fanuc/documentation/stream-motion-io) : Read and write digital I/O with each position sent to the robot, and switch outputs at a precise point of a trajectory. - [Troubleshooting & best practices](/fanuc/documentation/stream-motion-troubleshooting) : Handle Stream Motion errors, understand the usual MOTN alarms, and follow the good practices for smooth and reliable motions. ## Motion - [Motion planner overview](/fanuc/documentation/motion) : Create smooth robot trajectories offline, with velocity, acceleration and jerk limits, using FANUC motion instructions (J, L, C, FINE, CNT, CR). - [Joint & Cartesian motions](/fanuc/documentation/motion-moves) : Chain joint, linear and circular motions with FINE, CNT and CR terminations, waits and I/O, in tool and user frames. - [Splines & shapes](/fanuc/documentation/motion-splines-shapes) : Pass through a list of points with a smooth spline, and draw circles, rectangles, polygons, helices and spirals in any plane. - [Trajectories from points](/fanuc/documentation/motion-trajectory-from-points) : Create trajectories from your own positions, sampled or timed, check them against the limits of the robot, and slow them down if needed. - [Frames & orientations](/fanuc/documentation/motion-frames-orientations) : Convert W, P, R angles to quaternions, interpolate orientations, and change frames between flange, tool, user frame and world frame. ## Offline tools - [Forward & Inverse Kinematics](/fanuc/documentation/kinematics) : Perform forward and inverse kinematics calculations offline for FANUC industrial robots and CRX cobots using DH parameters. - [Offline file parsing](/fanuc/documentation/offline-file-parsing) : Parse and decode Fanuc variable files (.va), error lists (.ls), I/O state, safety status, and current position files without a robot connection. ## How-To Articles - [Read & write registers](/fanuc/documentation/how-to-read-write-fanuc-registers) : Compare all methods to read and write numeric, position, and string registers on a Fanuc robot: SNPX, FTP, CGTP, and Telnet. - [Get current position](/fanuc/documentation/get-current-position) : Retrieve the current robot position (joint and Cartesian) using SNPX, FTP, CGTP, or Telnet. Compare approaches and choose the best for your use case. - [Control inputs & outputs](/fanuc/documentation/set-and-simulate-inputs-outputs) : Set, read, simulate, and unsimulate I/O ports on a Fanuc robot using SNPX, CGTP, or Telnet. Compare port types and methods. - [Run a program remotely](/fanuc/documentation/run-program-remotely) : Start, pause, abort, and monitor Fanuc programs remotely using Telnet, CGTP, SNPX system variables, or RMI. - [Reset alarms remotely](/fanuc/documentation/how-to-reset-fanuc-alarm-remotely) : Clear and reset alarms on a Fanuc robot using SNPX, Telnet, or CGTP. Read active alarms and alarm history. - [Read & write system variables](/fanuc/documentation/read-write-system-variables) : Access and modify Fanuc system variables ($RMT_MASTER, $MCR.$GENOVERRIDE, etc.) using Telnet, SNPX, CGTP, or FTP. - [Monitor task execution](/fanuc/documentation/monitor-task-execution) : Supervise running programs, check task states, line numbers, and calling programs using SNPX, FTP, or Telnet. - [Move robot remotely](/fanuc/documentation/move-robot-remotely) : Move a Fanuc robot from an external application using RMI motion commands, Stream Motion real-time streaming, or DPM with SNPX. - [Upload, download & backup files](/fanuc/documentation/upload-download-backup-files) : Transfer TP programs, variable files, and backups between your PC and a Fanuc controller using FTP or CGTP. - [Read & write I/O comments](/fanuc/documentation/read-write-io-comments) : Read and write comments (descriptions) for registers and I/O ports using SNPX or CGTP. - [Access Karel program variables](/fanuc/documentation/access-karel-program-variables) : Read and write Karel program variables using SNPX ($[Program]Variable syntax), CGTP, or FTP variable files. - [Optimize with batch operations](/fanuc/documentation/optimize-performance-batch-operations) : Maximize read/write performance using SNPX batch assignments and CGTP batch variables for high-frequency data exchange. - [Move robot with mouse](/fanuc/documentation/move-robot-with-mouse) : Control a FANUC robot in real time using Dynamic Path Modification (DPM) and SNPX. Ideal for joystick or 6D mouse teleoperation setups. - [TP editor with breakpoints](/fanuc/documentation/tp-editor-with-breakpoints) : Prototype your own TP Editor with syntax highlighting and breakpoint debugging using Telnet and FTP features. - [Legal notice and acknowledgements](/fanuc/documentation/credits) : Legal notice and acknowledgements for the UnderAutomation Fanuc SDK.