CGTP overview

CGTP is the web server running on Fanuc robots (port 80/3080). It provides HTTP-based access to programs, variables, registers, I/O, positions, and files.

Key features

• Program management: Create, delete, rename, run, pause, abort programs
• Variables & registers: Read/write any variable, numeric/position/string registers
• I/O control: Read, write, simulate, and unsimulate I/O ports
• Position reading: Read current Cartesian and joint positions
• Online kinematics: Forward and inverse kinematics on the controller
• Batch operations: Read/write groups of registers and variables in one request
• Comments: Read/write register, I/O, and user alarm descriptions
• File access: List and download controller files via HTTP
• KCL commands: Execute KCL commands over CGTP

Quick example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common;
using UnderAutomation.Fanuc.Cgtp;

public class Cgtp
{
  public static void Main()
  {
    FanucRobot robot = new FanucRobot();

    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Cgtp.Enable = true;

    robot.Connect(parameters);

    
    // Read a variable
    CgtpVariableValue var = robot.Cgtp.ReadVariable("$RMT_MASTER");
    int rmtMaster = var.IntegerValue;

    // Write a variable
    robot.Cgtp.WriteVariable("$RMT_MASTER", 1);

    // Read a numeric register with comment
    NumericRegisterWithComment reg = robot.Cgtp.ReadNumericRegisterWithComment(1);

    // Read I/O
    int di1 = robot.Cgtp.ReadIo(CgtpIoPortType.DI, 1);

    // Write I/O
    robot.Cgtp.WriteIo(CgtpIoPortType.DO, 1, 1);

    // Read current Cartesian position
    CartesianPosition pos = robot.Cgtp.ReadCartesianPosition();

    // Run a program
    robot.Cgtp.RunProgram("MY_PROGRAM");
    
  }
}

Robot options

CGTP does not require any additional options. The robot typically listens on port 80 or 3080.

Most features require firmware V8.30 or later. Some features (program management, position reading) require V9.10+.

Firmware compatibility

Connection

static void Main()
{
// Via FanucRobot
var robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
parameters.Cgtp.Enable = true;           // enabled by default
parameters.Cgtp.Port = 80;              // default port
parameters.Cgtp.RequestTimeoutMs = 3000; // default timeout
robot.Connect(parameters);

// Or standalone
var cgtp = new CgtpClient();
cgtp.Connect("192.168.0.1");
}
}

Authentication

Some robots require authentication. Pass credentials during connection:

FanucRobot robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
// Via FanucRobot
parameters.Cgtp.Login = "admin";
parameters.Cgtp.Password = "password";
robot.Connect(parameters);

// Or standalone
var cgtp = new CgtpClient();
cgtp.Connect("192.168.0.1", login: "admin", password: "password");
}
}

KCL over CGTP

CGTP provides an embedded KCL client accessible via robot.Cgtp.Kcl. This allows executing KCL commands without a Telnet connection:

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
robot.Cgtp.Kcl.SetVariable("$RMT_MASTER", 1);

TaskInformationResult taskInfo = robot.Cgtp.Kcl.GetTaskInformation("MY_PROGRAM");

robot.Cgtp.Kcl.AddBreakpoint("MY_PROGRAM", line: 10);
}
}

Next steps

• Program management : Create, run, pause, abort programs
• Registers & variables : Read/write registers and variables
• Inputs & Outputs : Read, write, simulate I/O
• Position & kinematics : Read position, FK/IK
• Alarms, comments & files : Comments, user alarms, file listing

API reference