CGTP overview

CGTP is an HTTP-based protocol providing the richest feature set: program management, variables, registers, I/O, kinematics, batch operations, and file access.

Key features
Quick example
Robot options
Firmware compatibility
Connection
Authentication
KCL over CGTP
Next steps
API reference

CGTP is the web server running on Fanuc robots (port 80/3080). It provides HTTP-based access to programs, variables, registers, I/O, positions, and files.

Key features

Program management: Create, delete, rename, run, pause, abort programs
Variables & registers: Read/write any variable, numeric/position/string registers
I/O control: Read, write, simulate, and unsimulate I/O ports
Position reading: Read current Cartesian and joint positions
Online kinematics: Forward and inverse kinematics on the controller
Batch operations: Read/write groups of registers and variables in one request
Comments: Read/write register, I/O, and user alarm descriptions
File access: List and download controller files via HTTP
KCL commands: Execute KCL commands over CGTP

Quick example

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

public class Cgtp
{
  public static void Main()
  {
    FanucRobot robot = new FanucRobot();

    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Cgtp.Enable = true;

    robot.Connect(parameters);

    /**/
    // Read a variable
    CgtpVariableValue var = robot.Cgtp.ReadVariable("$RMT_MASTER");
    int rmtMaster = var.IntegerValue;

    // Write a variable
    robot.Cgtp.WriteVariable("$RMT_MASTER", 1);

    // Read a numeric register with comment
    NumericRegisterWithComment reg = robot.Cgtp.ReadNumericRegisterWithComment(1);

    // Read I/O
    int di1 = robot.Cgtp.ReadIo(CgtpIoPortType.DI, 1);

    // Write I/O
    robot.Cgtp.WriteIo(CgtpIoPortType.DO, 1, 1);

    // Read current Cartesian position
    CartesianPosition pos = robot.Cgtp.ReadCartesianPosition();

    // Run a program
    robot.Cgtp.RunProgram("MY_PROGRAM");
    /**/
  }
}

Robot options

CGTP does not require any additional options. The robot typically listens on port 80 or 3080.

Most features require firmware V8.30 or later. Some features (program management, position reading) require V9.10+.

Firmware compatibility

Feature	Min. firmware
Variable read/write	V8.30
I/O read/write/simulate	V8.30
Program management	V9.10
Position reading	V9.10
Program execution (Run)	V9.30
File listing	V9.40

Connection

// Via FanucRobot
var robot = new FanucRobot();
var parameters = new ConnectionParameters("192.168.0.1");
parameters.Cgtp.Enable = true;           // enabled by default
parameters.Cgtp.Port = 80;              // default port
parameters.Cgtp.RequestTimeoutMs = 3000; // default timeout
robot.Connect(parameters);

// Or standalone
var cgtp = new CgtpClient();
cgtp.Connect("192.168.0.1");

Authentication

Some robots require authentication. Pass credentials during connection:

// Via FanucRobot
parameters.Cgtp.Login = "admin";
parameters.Cgtp.Password = "password";
robot.Connect(parameters);

// Or standalone
var cgtp = new CgtpClient();
cgtp.Connect("192.168.0.1", login: "admin", password: "password");

KCL over CGTP

CGTP provides an embedded KCL client accessible via robot.Cgtp.Kcl. This allows executing KCL commands without a Telnet connection:

robot.Cgtp.Kcl.SetVariable("$RMT_MASTER", 1);

TaskInformationResult taskInfo = robot.Cgtp.Kcl.GetTaskInformation("MY_PROGRAM");

robot.Cgtp.Kcl.AddBreakpoint("MY_PROGRAM", line: 10);

Next steps

Program management : Create, run, pause, abort programs
Registers & variables : Read/write registers and variables
Inputs & Outputs : Read, write, simulate I/O
Position & kinematics : Read position, FK/IK
Alarms, comments & files : Comments, user alarms, file listing

API reference

Members of Cgtp.CgtpClient :

public class CgtpClient : CgtpClientBase {
 
    // Creates a new instance of the CGTP Web Server client.
    public CgtpClient()
 
    // Connect to the CGTP Web Server on the controller.
    public void Connect(string ip, int port = 3080, int requestTimeoutMs = 3000, string login = null, string password = null)
}

Members of Cgtp.Internal.CgtpClientBase :

public abstract class CgtpClientBase {
     protected CgtpClientBase()
 
    // Abort the task specified by <code class="paramref">progName</code>.
    // Set to null to abort all user tasks.
    // From firmware 9.10
    public void AbortTask(string progName = null)
 
    // Change the active TP program to <code class="paramref">progName</code>.
    // From firmware 9.10
    public void ChangeActiveProgram(string progName)
 
    // Create a new TP program on the controller.
    // From firmware 9.10
    public void CreateProgram(string progName, string owner = null, string comment = null, int defaultGroup = 0, CgtpProgramSubType subType = CgtpProgramSubType.None)
 
    // Delete the program <code class="paramref">progName</code> from the controller.
    // From firmware 9.10
    public void DeleteProgram(string progName)
 
    // Delete <code class="paramref">count</code> lines starting at <code class="paramref">lineNum</code> in program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void DeleteSourceLines(string progName, int lineNum, int count = 1)
 
    // Disconnect from the CGTP Web Server. After calling this method, the client must be reconnected before it can be used again.
    public void Disconnect()
 
    // Indicates whether the client is currently connected to the CGTP Web Server.
    public bool Enabled { get; }
 
    // Compute the forward kinematics on the controller: convert joint angles to a Cartesian position.
    public CartesianPosition ForwardKinematics(int group, JointsPosition jointPosition, int userTool = -1, int userFrame = -1)
 
    // Read all comments for the specified element type.
    // For I/O types (RI, RO, DI, DO, GI, GO, AI, AO), returns the input or output comments accordingly.
    public string[] GetComments(CgtpCommentType type)
 
    // Download the content of a file from the controller as a string.
    // From firmware 9.10
    public string GetFileAsString(string pathName)
 
    // Read all I/O comments for the specified I/O type.
    public IOComments GetIoComments(CgtpCommentIoType type)
 
    // Check whether I/O port at <code class="paramref">index</code> of type <code class="paramref">portType</code> is simulated.
    // From firmware 8.30
    public bool GetIoSimulationStatus(CgtpIoPortType portType, int index)
 
    // Get the comment of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public string GetProgramComment(string progName)
 
    // Get whether program <code class="paramref">progName</code> ignores pause requests.
    // From firmware 9.10
    public bool GetProgramIgnorePause(string progName)
 
    // Get the owner of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public string GetProgramOwner(string progName)
 
    // Get the stack size of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public int GetProgramStackSize(string progName)
 
    // Get the sub-type of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public CgtpProgramSubType GetProgramSubType(string progName)
 
    // Get whether program <code class="paramref">progName</code> is write-protected.
    // From firmware 9.10
    public bool GetProgramWriteProtect(string progName)
 
    // Provides methods to download and decode files from the controller via HTTP.
    public CgtpHttpClient Http { get; }
 
    // Insert a source line before <code class="paramref">lineNum</code> in program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void InsertSourceLine(string progName, string lineContent, int lineNum)
 
    // Compute the inverse kinematics on the controller: convert a Cartesian position to joint angles.
    public JointsPosition InvertKinematics(int group, CartesianPosition cartesianPosition, int userTool = -1, int userFrame = -1)
 
    // KCL client for executing KCL commands over CGTP.
    public CgtpKclClient Kcl { get; }
 
    // Controller language (default is English)
    public Languages Language { get; set; }
 
    // List files at the specified path on the controller.
    // From firmware 9.40
    public string[] ListFiles(string pathName = "MD:")
 
    // List all TP or Karel programs on the controller
    public string[] ListPrograms(CgtpProgramType type, CgtpProgramSubType subType)
 
    // List all TP programs on the controller, regardless of their sub-type.
    public string[] ListTpPrograms()
 
    // Pause program execution on the controller.
    // From firmware 9.10
    public void PauseAllPrograms()
 
    // Read multiple variables from the controller in a single batch operation.
    // Each variable in <code class="paramref">variables</code> will be updated with the value read from the controller.
    public CgtpBatchReadResult ReadBatchVariables(CgtpBatchVariables variables)
 
    // Read the current Cartesian position of motion group <code class="paramref">groupNum</code>.
    // From firmware 9.10
    public CartesianPosition ReadCartesianPosition(int groupNum = 1)
 
    // Read the value of I/O port at <code class="paramref">index</code> of type <code class="paramref">portType</code>.
    // From firmware 8.30
    public int ReadIo(CgtpIoPortType portType, int index)
 
    // Read the current joint angles of motion group <code class="paramref">groupNum</code>.
    // From firmware 9.10
    public JointsPosition ReadJointPosition(int groupNum = 1)
 
    // Read the numeric register (R[]) at <code class="paramref">index</code>.
    // From firmware 9.10
    public NumericRegisterWithComment ReadNumericRegisterWithComment(int index)
 
    // Read all numeric registers (R[]) with their comments and values.
    public NumericRegisterWithComment[] ReadNumericRegistersWithComment()
 
    // Read the position register (PR[]) at <code class="paramref">index</code> for motion group <code class="paramref">groupNum</code>.
    // From firmware 9.10
    public PositionRegisterWithComment ReadPositionRegisterWithComment(int index, int groupNum = 1)
 
    // Read all string registers (SR[]) with their comments and values.
    public StringRegisterWithComment[] ReadStringRegistersWithComment()
 
    // Read all user alarm definitions with their comments and severity.
    public UserAlarmDefinition[] ReadUserAlarms()
 
    // Read the typed value of variable <code class="paramref">varName</code> in program <code class="paramref">progName</code>.
    // From firmware 9.10
    public CgtpVariableValue ReadVariable(string varName, string progName = null)
 
    // Read the value of variable <code class="paramref">varName</code> in program <code class="paramref">progName</code>.
    // From firmware 9.10
    public string ReadVariableAsString(string varName, string progName = null)
 
    // Rename program <code class="paramref">sourceName</code> to <code class="paramref">newName</code>.
    // From firmware 9.10
    public void RenameProgram(string sourceName, string newName)
 
    // Replace the source line at <code class="paramref">lineNum</code> in program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void ReplaceSourceLine(string progName, string lineContent, int lineNum)
 
    // Run the specified program starting at <code class="paramref">lineNum</code>.
    // From firmware 9.30
    public void RunProgram(string progName, int lineNum = 1)
 
    // Open the TP program <code class="paramref">progName</code> and move cursor to <code class="paramref">lineNum</code>.
    // From firmware 9.10
    public void SelectProgram(string progName, int lineNum = 1)
 
    // Set the comment of a register or I/O port identified by <code class="paramref">type</code> and <code class="paramref">index</code>.
    public void SetComment(CgtpCommentType type, int index, string comment)
 
    // Set the comment of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void SetProgramComment(string progName, string comment)
 
    // Set whether program <code class="paramref">progName</code> ignores pause requests.
    // From firmware 9.10
    public void SetProgramIgnorePause(string progName, bool ignorePause)
 
    // Set the owner of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void SetProgramOwner(string progName, string owner)
 
    // Set the stack size of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void SetProgramStackSize(string progName, int stackSize)
 
    // Set the sub-type of program <code class="paramref">progName</code>.
    // From firmware 9.10
    public void SetProgramSubType(string progName, CgtpProgramSubType subType)
 
    // Set whether program <code class="paramref">progName</code> is write-protected.
    // From firmware 9.10
    public void SetProgramWriteProtect(string progName, bool writeProtect)
 
    // Set the severity of a user alarm.
    public void SetUserAlarmSeverity(int index, int severity)
 
    // Set I/O port at <code class="paramref">index</code> of type <code class="paramref">portType</code> to simulated.
    // From firmware 8.30
    public void SimulateIo(CgtpIoPortType portType, int index)
 
    // Remove simulation from I/O port at <code class="paramref">index</code> of type <code class="paramref">portType</code>.
    // From firmware 8.30
    public void UnsimulateIo(CgtpIoPortType portType, int index)
 
    // Write multiple variables to the controller in a single batch operation.
    public CgtpBatchWriteResult WriteBatchVariables(CgtpBatchVariables variables)
 
    // Set the value of I/O port at <code class="paramref">index</code> of type <code class="paramref">portType</code>.
    // From firmware 8.30
    public void WriteIo(CgtpIoPortType portType, int index, int value)
 
    // Write a real (double) value to numeric register R[<code class="paramref">index</code>].
    public void WriteNumericRegisterAsDouble(int index, double value)
 
    // Write an integer value to numeric register R[<code class="paramref">index</code>].
    public void WriteNumericRegisterAsInteger(int index, int value)
 
    // Write a cartesian position value to a position register (PR[])
    public void WritePositionRegisterAsCartesian(int index, CartesianPosition value, int groupNum = 1)
 
    // Write a joint position value to a position register (PR[])
    public void WritePositionRegisterAsJoint(int index, JointsPosition value, int groupNum = 1)
 
    // Write a string value to string register SR[<code class="paramref">index</code>].
    public void WriteStringRegister(int index, string value)
 
    // Write a real (double) <code class="paramref">value</code> to variable <code class="paramref">varName</code> in program <code class="paramref">progName</code>.
    // From firmware 8.30
    public void WriteVariable(string varName, double value, string progName = null)
 
    // Write an integer <code class="paramref">value</code> to variable <code class="paramref">varName</code> in program <code class="paramref">progName</code>.
    // From firmware 8.30
    public void WriteVariable(string varName, int value, string progName = null)
 
    // Write <code class="paramref">value</code> to variable <code class="paramref">varName</code> in program <code class="paramref">progName</code>.
    // From firmware 8.30
    public void WriteVariable(string varName, string value, string progName = null)
}