Connect to your robot

This page explains how to connect the Fanuc SDK to a real controller or to a ROBOGUIDE virtual robot: the protocols to enable, their setup on the controller and the connection parameters. The ConnectionParameters class lists the protocols, and each protocol is enabled on its own.

Prerequisites

Network

The PC and the controller are on the same network, and the PC can ping the controller. Each protocol uses its own TCP port: allow it in the firewalls between the PC and the controller.

Protocols and controller options

Connect

Quick connection

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

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

Several protocols

To use several 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();
    
  }
}

ROBOGUIDE

Instead of an IP address, pass the folder of a robot of a ROBOGUIDE workcell. The SDK reads the file services.txt of that folder to find the TCP ports of the virtual robot. See Test with ROBOGUIDE.

{
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);
}
}

Connection options

Ping

When PingBeforeConnect is true (default), the SDK pings the controller before it opens any connection. If the controller does not answer within 100 ms, Connect throws an exception at once. Set it to false when ICMP is blocked on your network.

Language of the controller

Set the Language property to the language of the controller, so that the strings read with SNPX, FTP and Telnet are decoded correctly: English (ASCII, default), Japanese (Shift-JIS) or Chinese (GB2312).

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);
}

Standalone protocol clients

Each protocol can also be used without FanucRobot, when you only need one 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");
}
}

Disconnect

Always disconnect when you are done, to close the connections of every protocol.

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

Try it in the demo application

Everything on this page can be tried without writing code, in the Connection page of the demo application.

The demo application is open source. The C# source of this page is ConnectControl.cs.

Reference

What to read next

• Test with ROBOGUIDE: work without a real robot.
• Demo application: try the connection without writing code.
• The protocol pages: CGTP, SNPX, Telnet, FTP, RMI, Stream Motion.