Variables & I/O via Telnet

Read and write system variables, set output ports, simulate and unsimulate input ports using Telnet KCL.

Read and write variables
Set and simulate I/O ports
Available port types
Complete example
API reference

Read and write system variables, set output ports, simulate and unsimulate input ports using Telnet KCL.

Read and write variables

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Read a variable
GetVariableResult result = robot.Telnet.GetVariable("$RMT_MASTER");
string value = result.RawValue;

// Write a variable
robot.Telnet.SetVariable("$RMT_MASTER", 1);
robot.Telnet.SetVariable("$MCR.$GENOVERRIDE", 50);
robot.Telnet.SetVariable("$[MY_PROG]my_var", "hello");

// Get current pose
GetCurrentPoseResult pose = robot.Telnet.GetCurrentPose();
}
}

Click to see the full code

You can read any system variable, program variable, or user-defined variable by name. The value must match the declared data type. Use brackets ([]) after the variable name to specify an array element.

Set and simulate I/O ports

parameters.Telnet.TelnetKclPassword = "TELNET_PASS";
robot.Connect(parameters);
// Set an output port (DOUT port 2 = OFF)
robot.Telnet.SetPort(KCLPorts.DOUT, 2, 0);

// Set an output port (DOUT port 5 = ON)
robot.Telnet.SetPort(KCLPorts.DOUT, 5, 1);

// Simulate an input port (DIN port 3 = ON)
robot.Telnet.Simulate(KCLPorts.DIN, 3, 1);

// Stop simulating DIN port 3
robot.Telnet.Unsimulate(KCLPorts.DIN, 3);

// Stop simulating all ports
robot.Telnet.UnsimulateAll();
}
}

Click to see the full code

Available port types

The KCLPorts enum defines the available port types:

Port	Description
`DIN` / `DOUT`	Digital Input / Output
`GIN` / `GOUT`	Group Input / Output
`AIN` / `AOUT`	Analog Input / Output
`OPIN` / `OPOUT`	Operator Panel Input / Output
`RDI` / `RDO`	Robot Digital Input / Output
`WDI` / `WDO`	Weld Digital Input / Output
`PLCIN` / `PLCOUT`	PLC Input / Output
`FLAG`	Flag register

Complete example

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

public class TelnetVariablesIo
{
  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);

    
    // Read a system variable
    GetVariableResult result = robot.Telnet.GetVariable("$RMT_MASTER");
    string value = result.RawValue;

    // Write system variables
    robot.Telnet.SetVariable("$RMT_MASTER", 1);
    robot.Telnet.SetVariable("$MCR.$GENOVERRIDE", 50);

    // Get current TCP pose
    GetCurrentPoseResult pose = robot.Telnet.GetCurrentPose();

    // Set an output port
    robot.Telnet.SetPort(KCLPorts.DOUT, 2, 0);
    robot.Telnet.SetPort(KCLPorts.DOUT, 5, 1);

    // Simulate an input port
    robot.Telnet.Simulate(KCLPorts.DIN, 3, 1);

    // Stop simulating a port
    robot.Telnet.Unsimulate(KCLPorts.DIN, 3);

    // Stop simulating all ports
    robot.Telnet.UnsimulateAll();
    
  }
}

API reference

Class

GetVariableResultinherits Result

C#Python

Result of a get variable command containing the raw value.

Member	Type	Description
GetVariableResult() Constructor
RawValue Property read only	string	Gets the raw value of the variable as a string.
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.
ParseResult() Method	GenericVariable	Returns a structured object which represents the variable (not supported with Telnet)
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).
ToString() Method	string

Class

SetVariableResultinherits SetValueResult

C#Python

Result of a set variable command.

Member	Type	Description
SetVariableResult() Constructor
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

SetPortResultinherits SetValueResult

C#Python

Result of a set port command.

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

Class

SimulateResultinherits BaseResult

C#Python

Result of a simulate port command.

Member	Type	Description
SimulateResult() Constructor

Enum

KCLPorts

C#Python

Enum representing the different KCL ports.

Name	Value	Description
AIN	7	Analog Input port.
AOUT	8	Analog Output port.
DIN	0	Digital Input port.
DOUT	1	Digital Output port.
GIN	9	General Input port.
GOUT	10	General Output port.
OPOUT	3	Operator Panel Output port.
RDO	2	Robot Digital Output port.
TPOUT	4	Teach Pendant Output port.
WDI	5	Weld Digital Input port.
WDO	6	Weld Digital Output port.

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Variables & I/O via Telnet

Read and write variables

Set and simulate I/O ports

Available port types

Complete example

API reference