Connect to your robot

Learn how to configure connection parameters, enable protocols, and connect to a real Fanuc robot or ROBOGUIDE simulation.

Quick connection
Full connection with multiple protocols
Connect to ROBOGUIDE
Connection options
Standalone protocol clients
Disconnect
API reference

The ConnectionParameters class lets you configure which protocols to enable before connecting to the robot. Each protocol is optional and can be enabled independently.

Quick connection

The simplest way to connect is to pass an IP address directly. This enables only the CGTP protocol by default.

static void Main()
{
var robot = new FanucRobot();
robot.Connect("192.168.0.1");
}
}

Click to see the full code

Full connection with multiple protocols

To use multiple protocols, create a ConnectionParameters object and enable each protocol you need.

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

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

    // Configure connection parameters
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");

    
    // Enable Telnet KCL for remote commands
    parameters.Telnet.Enable = true;
    parameters.Telnet.TelnetKclPassword = "your_password";

    // Enable FTP for file and variable access
    parameters.Ftp.Enable = true;
    parameters.Ftp.FtpUser = "";
    parameters.Ftp.FtpPassword = "";

    // Enable SNPX for high-speed register and I/O access
    parameters.Snpx.Enable = true;

    // Enable CGTP Web Server (enabled by default)
    parameters.Cgtp.Enable = true;

    // Enable RMI for remote motion commands
    parameters.Rmi.Enable = true;

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

    // Check connection status
    bool isConnected = robot.Enabled;

    // Disconnect when done
    robot.Disconnect();
    
  }
}

Connect to ROBOGUIDE

Instead of an IP address, you can pass the path to a ROBOGUIDE workcell robot folder. The SDK reads the services.txt file in that folder to discover the TCP ports used by the simulator.

{
FanucRobot robot = new FanucRobot();
var parameters = new ConnectionParameters(@"C:\Users\you\Documents\My Workcells\CRX 10iA L\Robot_1");
parameters.Telnet.Enable = true;
parameters.Telnet.TelnetKclPassword = "";
parameters.Ftp.Enable = true;
parameters.Ftp.FtpUser = "";
parameters.Ftp.FtpPassword = "";
robot.Connect(parameters);
}
}

Click to see the full code

Connection options

When PingBeforeConnect is true (default), the SDK sends a ping to the robot before attempting any connection. If the robot does not respond, an exception is thrown immediately. Set it to false when connecting to ROBOGUIDE or when ICMP is blocked on your network.

Set the Language property to match your controller's language so that strings are decoded correctly.

FanucRobot robot = new FanucRobot();
ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
// Ping before connecting (default: true)
parameters.PingBeforeConnect = true;
// Set to false for ROBOGUIDE or when ICMP is blocked

// Controller language for correct string decoding
parameters.Language = Languages.English;   // default (ASCII)
                                           // parameters.Language = Languages.Japanese; // Shift-JIS
                                           // parameters.Language = Languages.Chinese;  // GB2312
robot.Connect(parameters);
}

Click to see the full code

Standalone protocol clients

Each protocol can also be used independently without FanucRobot. This is useful when you only need a single protocol:

static void Main()
{
// Standalone SNPX client
var snpx = new SnpxClient();
snpx.Connect("192.168.0.1");

// Standalone Telnet client
var telnet = new TelnetClient();
telnet.Connect("192.168.0.1", "telnet_password");

// Standalone CGTP client
var cgtp = new CgtpClient();
cgtp.Connect("192.168.0.1");
}
}

Click to see the full code

Disconnect

Always disconnect when you are done to release resources.

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
robot.Disconnect();
}
}

Click to see the full code

API reference

Class

ConnectionParameters

C#Python

Connection parameters

Member	Type	Description
ConnectionParameters() Constructor		Instanciate a new connection parameters
ConnectionParameters(string) Constructor		Instanciate a new connection parameters with a specified address
Address Property	string	Address of the robot (IP, host name, or path to ROBOGUIDE project folder)
Cgtp Property	CgtpConnectParameters	Parameters for CGTP Web Server (HTTP-based COMET RPC interface)
Ftp Property	FtpConnectParameters	Access controller internal memory to read variables, IO, positions, diagnosis, ...
Language Property	Languages	Controller language (default: English)
PingBeforeConnect Property	bool	Send a ping command before initializing any connections
Rmi Property	RmiConnectParameters	Parameters for RMI (Remote Motion Interface)
Snpx Property	SnpxConnectParameters	Read and write IOs, read and clear alarms, read current program tasks
StreamMotion Property	StreamMotionConnectParameters	Parameters for Stream Motion (J519 option) - real-time streaming motion control over UDP
Telnet Property	TelnetConnectParameters	Sends commands to the robot for remote control

Class

TelnetConnectParametersinherits TelnetConnectParametersBase

C#Python

Connect parameters for remote command

Member	Type	Description
TelnetConnectParameters() Constructor
Enable Property	bool	Should use this service (default: false)

Class

FtpConnectParametersinherits FtpConnectParametersBase

C#Python

Memory access parameters

Member	Type	Description
FtpConnectParameters() Constructor
Enable Property	bool	Should enable memory access for this connection (default: true)

Class

SnpxConnectParametersinherits SnpxConnectParametersBase

C#Python

SNPX parameters

Member	Type	Description
SnpxConnectParameters() Constructor
Enable Property	bool	Should enable SNPX for this connection (default: false)

Class

CgtpConnectParametersinherits CgtpConnectParametersBase

C#Python

CGTP Web Server connection parameters

Member	Type	Description
CgtpConnectParameters() Constructor
Enable Property	bool	Should enable CGTP Web Server for this connection (default: true)

Class

RmiConnectParametersinherits RmiConnectParametersBase

C#Python

RMI parameters

Member	Type	Description
RmiConnectParameters() Constructor
Enable Property	bool	Should enable RMI for this connection (default: false)

Class

StreamMotionConnectParametersinherits StreamMotionConnectParametersBase

C#Python

Stream Motion connection parameters (J519 option)

Member	Type	Description
StreamMotionConnectParameters() Constructor
Enable Property	bool	Should enable Stream Motion for this connection (default: false)
Ip Property	string	IP address of the robot for standalone Stream Motion connections

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Connect to your robot

Quick connection

Full connection with multiple protocols

Connect to ROBOGUIDE

Connection options

Standalone protocol clients

Disconnect

API reference