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.

SNPX (fastest : ~2 ms)
CGTP Web Server
FTP (offline parsing)
Telnet KCL
Protocol comparison

Read the current tool position of your Fanuc robot in Cartesian (X, Y, Z, W, P, R) or joint (J1–J6) format using different protocols.

SNPX (fastest : ~2 ms)

SNPX provides the fastest position reading, in world or user frame coordinates.

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

public class SnpxPositionWorld
{
  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.Snpx.Enable = true;

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

    
    // Read a current world position
    Position worldPosition = robot.Snpx.CurrentPosition.ReadWorldPosition();

    // Access the Cartesian position
    double x = worldPosition.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = worldPosition.UserTool;

    // Access the joint positions
    double j1 = worldPosition.JointsPosition.J1;

    // Read a current world position of group 2
    Position worldPositionG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    
  }

}

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

public class SnpxPositionUserFrame
{
  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.Snpx.Enable = true;

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

    
    // Read user frame 2 position
    Position userFrame = robot.Snpx.CurrentPosition.ReadUserFramePosition(1);

    // Access the Cartesian position
    double x = userFrame.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = userFrame.UserTool;

    // Access the user frame id
    short usertFrame = userFrame.UserFrame;

    // Access the joint positions
    double j1 = userFrame.JointsPosition.J1;

    // Read a current world position of group 2
    Position userFrameG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    
  }

}

CGTP Web Server

CGTP returns Cartesian and joint positions separately:

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Read Cartesian position
CartesianPosition cartesian = robot.Cgtp.ReadCartesianPosition();
Console.WriteLine($"X={cartesian.X}, Y={cartesian.Y}, Z={cartesian.Z}");

// Read joint position
JointsPosition joints = robot.Cgtp.ReadJointPosition();
Console.WriteLine($"J1={joints.J1}, J2={joints.J2}, J3={joints.J3}");

// Multi-group
CartesianPosition group2 = robot.Cgtp.ReadCartesianPosition(groupNum: 2);
}
}

Click to see the full code

FTP (offline parsing)

Download and parse the current position diagnostic file:

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
CurrentPosition curPos = robot.Ftp.GetSummaryDiagnostic().CurrentPosition;
}
}

Click to see the full code

Telnet KCL

Read position-related system variables:

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
var curpos = robot.Telnet.GetCurrentPose();
}
}

Click to see the full code

Protocol comparison

Feature	SNPX	CGTP	FTP	Telnet
Speed	~2 ms	~50 ms	~100 ms	~30 ms
World frame	Yes	Yes	Yes	Yes
User frame	Yes	No	No	No
Joint position	Yes	Yes	Yes	Yes
Multi-group	Yes	Yes	No	No

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Get current position

SNPX (fastest : ~2 ms)

CGTP Web Server

FTP (offline parsing)

Telnet KCL

Protocol comparison