Program control via Telnet

Run, pause, hold, continue, and abort TP and Karel programs remotely using Telnet KCL commands.

Run, pause, hold, continue
Abort, clear, and reset
Complete example
API reference

Run, pause, hold, continue, and abort TP and Karel programs remotely using Telnet KCL commands.

Run, pause, hold, continue

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Run the default program
robot.Telnet.Run();

// Run a specific program
robot.Telnet.Run("MyProgram");

// Pause a running program (stops at the next fine point)
robot.Telnet.Pause("MyProgram");

// Force pause immediately
robot.Telnet.Pause("MyProgram", force: true);

// Hold a program (stops at the current position)
robot.Telnet.Hold("MyProgram");

// Resume a paused or held program
robot.Telnet.Continue("MyProgram");
}
}

Click to see the full code

Pause stops at the next motion fine point. Hold decelerates the robot to stop at the current position.

Abort, clear, and reset

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Abort a specific program
robot.Telnet.Abort("MyProgram", force: true);

// Abort all running programs
robot.Telnet.AbortAll(force: true);

// Clear all programs from memory
robot.Telnet.ClearAll();

// Clear a specific program
robot.Telnet.ClearProgram("MyProgram");

// Clear variables of a specific program
robot.Telnet.ClearVars("MyProgram");

// Reset alarms and re-enable servo power
robot.Telnet.Reset();
}
}

Click to see the full code

The Reset() command has the same effect as the FAULT RESET button on the operator panel. The error message remains displayed if the error condition still exists.

Complete example

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

public class TelnetProgramControl
{
  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);

    
    // Run a program
    robot.Telnet.Run("MyProgram");

    // Pause (stops at next fine point)
    robot.Telnet.Pause("MyProgram");

    // Hold (decelerates and stops at current position)
    robot.Telnet.Hold("MyProgram");

    // Resume a paused or held program
    robot.Telnet.Continue("MyProgram");

    // Abort a program
    robot.Telnet.Abort("MyProgram", force: true);

    // Abort all running programs
    robot.Telnet.AbortAll(force: true);

    // Reset alarms (same as FAULT RESET button)
    robot.Telnet.Reset();

    // Clear program variables
    robot.Telnet.ClearVars("MyProgram");
    
  }
}

API reference

Class

RunResultinherits ProgramCommandResult

C#Python

Result of a run command.

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

Class

ProgramCommandResultinherits Result

C#Python

Result of a program command (abort, continue, hold, pause, run, etc.).

Member	Type	Description
ProgramCommandResult() Constructor
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.

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Program control via Telnet

Run, pause, hold, continue

Abort, clear, and reset

Complete example

API reference