Debugging & breakpoints

Add, remove, and manage breakpoints on TP and Karel programs. Step through code line by line using Telnet KCL.

Breakpoints
Step-by-step execution and task info
Complete example
See also
API reference

The Fanuc SDK lets you add, remove, and manage breakpoints on TP and Karel programs. You can also step through code line by line, making it a powerful tool for remote debugging and prototyping a custom TP editor.

Breakpoints

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Add a breakpoint at line 10
robot.Telnet.AddBreakpoint("MyProgram", 10);

// List breakpoints
BreakpointsResult result = robot.Telnet.GetBreakpoints("MyProgram");
foreach (Breakpoint bp in result.Breakpoints)
{
    Console.WriteLine($"Breakpoint at line {bp.Line}");
}

// Remove a single breakpoint
robot.Telnet.RemoveBreakpoint("MyProgram", 10);

// Remove all breakpoints of a program
robot.Telnet.RemoveAllBreakpoints("MyProgram");
}
}

Click to see the full code

Step-by-step execution and task info

When step mode is enabled, the program pauses after each line execution, allowing you to inspect state between instructions.

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Enable step mode for a task
robot.Telnet.StepOn("MyProgram");

// Disable step mode
robot.Telnet.StepOff();

// Get task information (current line, status, etc.)
TaskInformationResult info = robot.Telnet.GetTaskInformation("MyProgram");
}
}

Click to see the full code

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Telnet;

public class TelnetDebugging
{
  static void Main()
  {
    FanucRobot robot = new FanucRobot();
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Telnet.Enable = true;
    parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
    robot.Connect(parameters);

    
    // Add a breakpoint at line 10 of MyProgram
    robot.Telnet.AddBreakpoint("MyProgram", 10);

    // List all breakpoints
    BreakpointsResult result = robot.Telnet.GetBreakpoints("MyProgram");
    foreach (Breakpoint bp in result.Breakpoints)
    {
      Console.WriteLine($"Breakpoint at line {bp.Line}");
    }

    // Remove a single breakpoint
    robot.Telnet.RemoveBreakpoint("MyProgram", 10);

    // Remove all breakpoints
    robot.Telnet.RemoveAllBreakpoints("MyProgram");

    // Enable step-by-step execution
    robot.Telnet.StepOn("MyProgram");

    // Disable step mode
    robot.Telnet.StepOff();
    
  }
}

API reference

Class

BreakpointsResultinherits Result

C#Python

Result containing the breakpoints of a task.

Member	Type	Description
BreakpointsResult() Constructor
Breakpoints Property read only	Breakpoint[]	Gets the breakpoints set on the task.
EndReceive() Method	void	Indicates that responses have been completed and received
FromResult(string) Method	bool	During implementation, return true if it is assumed that the frame has finished being received.
ShouldCompleteOnEmptyAnswer() Method	bool	Controls whether the result should be finalized when an empty answer is received (i.e. a frame consisting only of VT100 escape sequences and whitespace). Override and return false until meaningful data has been accumulated, to prevent premature finalization caused by intermediate display-update frames. Default is true (backward compatible: finalize immediately on empty answer).

Class

Breakpoint

C#Python

Represents a breakpoint set on a task line.

Member	Type	Description
Breakpoint() Constructor
Line Property read only	int	Gets the line number where the breakpoint is set.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Class

AddBreakpointResultinherits Result

C#Python

Result of adding a breakpoint.

Member	Type	Description
AddBreakpointResult() Constructor
FromResult(string) Method	bool	During implementation, return true if it is assumed that the frame has finished being received.

Class

RemoveBreakpointResultinherits Result

C#Python

Result of removing a breakpoint.

Member	Type	Description
RemoveBreakpointResult() Constructor
FromResult(string) Method	bool	During implementation, return true if it is assumed that the frame has finished being received.

Class

StepOnResultinherits Result

C#Python

Result of the step on command.

Member	Type	Description
StepOnResult() Constructor
FromResult(string) Method	bool	During implementation, return true if it is assumed that the frame has finished being received.

Class

TaskInformationResultinherits Result

C#Python

Result of the show task command containing task properties.

Member	Type	Description
TaskInformationResult() Constructor
CurrentLine Property read only	int	Gets the current line number.
HoldConditions Property read only	string	Gets the hold conditions.
InvisibleTask Property read only	bool	Gets a value indicating whether the task is invisible.
ProgramType Property read only	ProgramType	Gets the type of the program.
RoutineName Property read only	string	Gets the name of the routine.
SystemTask Property read only	bool	Gets a value indicating whether the task is a system task.
TaskName Property read only	string	Gets the name of the task.
TaskNumber Property read only	int	Gets the task number.
TaskStatus Property read only	TaskStatus	Gets the task status.
TaskStatusStr Property read only	string	Gets the task status as a string.
FromResult(string) Method	bool	Parses the result data and populates the properties of the class. data : The result data as a string.
ToString() Method	string

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Debugging & breakpoints

Breakpoints

Step-by-step execution and task info

Complete example

See also

API reference