Fanuc SDK documentation

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

// 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
robot.Connect(parameters);

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

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

Members of Ftp.FtpClient :

public class FtpClient : FtpClientBase {
 
    // Instanciate a new FTP client connection
    public FtpClient()
 
    // Connect to a robot
    public void Connect(string ip, string user, string password)
}

Members of Ftp.Internal.FtpClientBase :

public abstract class FtpClientBase : FileClientBase {
 
    // Indicates that FTP connection is active
    public bool Connected { get; }
 
    // Contains methods to manipulate files and folders on the controller (upload, download, delete, ...)
    public FtpDirectFileHandling DirectFileHandling { get; }
 
    // Disconnects from FTP server
    public void Disconnect()
 
    // Get the list of all variable file names available on the controller
    public override string[] EnumerateVariableFileNames()
 
    // Get a list of all variable files on controller
    public FtpListItem[] EnumerateVariableFiles()
 
    // Connect robot IP address or host name
    public override string IP { get; }
 
    // Controller language (default is English)
    public Languages Language { get; set; }
}

Debugging & breakpoints

Documentation home

File management

Any question?

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