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Fanuc SDK documentation

Run a program remotely

Start, pause, abort, and monitor Fanuc programs remotely using Telnet, CGTP, SNPX system variables, or RMI.

Telnet KCL
CGTP Web Server
RMI
SNPX (indirect)
Controlling Program Execution via UOP
Protocol comparison

Start, stop, pause, and abort TP programs remotely using different protocols.

Telnet KCL

Telnet provides the most complete program control through KCL commands:

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");
    /**/
  }
}

CGTP Web Server

CGTP can run, select, pause, and abort programs, plus manage program properties:

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

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

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

    robot.Connect(parameters);

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

    // Run from a specific line
    robot.Cgtp.RunProgram("MY_PROGRAM", lineNum: 10);

    // Select a program
    robot.Cgtp.SelectProgram("MY_PROGRAM");

    // Abort a task
    robot.Cgtp.AbortTask("MY_PROGRAM");

    // Pause all programs
    robot.Cgtp.PauseAllPrograms();

    // Create a program
    robot.Cgtp.CreateProgram(
        progName: "NEW_PROG",
        owner: "UnderAutomation",
        comment: "Created via CGTP",
        subType: CgtpProgramSubType.Job
    );

    // Delete a program
    robot.Cgtp.DeleteProgram("OLD_PROG");

    // Rename a program
    robot.Cgtp.RenameProgram("OLD_NAME", "NEW_NAME");

    // Read program properties
    string comment = robot.Cgtp.GetProgramComment("MY_PROGRAM");
    string owner = robot.Cgtp.GetProgramOwner("MY_PROGRAM");
    bool ignorePause = robot.Cgtp.GetProgramIgnorePause("MY_PROGRAM");

    // Write program properties
    robot.Cgtp.SetProgramComment("MY_PROGRAM", "Updated comment");
    robot.Cgtp.SetProgramSubType("MY_PROGRAM", CgtpProgramSubType.Macro);
    /**/
  }
}

RMI

RMI sends TP-equivalent motion instructions directly, without selecting a program:

// Initialize the RMI_MOVE program
robot.Rmi.Initialize();

// Send motion commands with sequence IDs
Frame target = new Frame { X = 500, Y = 200, Z = 300, W = 0, P = 90, R = 0 };
MotionConfiguration config = new MotionConfiguration { UToolNumber = 1, UFrameNumber = 0 };
robot.Rmi.LinearMotion(sequenceId: 1, config: config, position: target,
    speedType: SpeedType.MmSec, speed: 100, termType: TerminationType.Fine, termValue: 0,
    acc: null, offsetPr: null, visionPr: null, wristJoint: false, mrot: false,
    lcbType: null, lcbValue: null, portType: null, portNumber: null, portValue: null);

// Pause / Continue / Abort
robot.Rmi.Pause();
robot.Rmi.Continue();
robot.Rmi.Abort();

SNPX (indirect)

Selecting the Target Program

Set the program name using the $SHELL_WRK.$CUST_NAME system variable. Do not include the .TP extension:

Starting the Program

Enable Remote Control

To allow external control, the system variable $RMT_MASTER must be set to 0.

Option 1: System Variable Start (Production Start Method = OTHER)

When Production Start Method is set to OTHER, trigger the start by setting $SHELL_WRK.$CUST_START to 1:

The controller automatically clears this bit once it acknowledges the command.

Option 2: UOP Cycle Start (Production Start Method = UOP)

This method uses UI (User Input) signals, providing additional control capabilities.

Step 1: Configure UI-to-Flag Mapping

Navigate to: MENU → I/O → UOP → select UI → CONFIG

Link UI signals to Flags (Rack 34, Slot 1):

Configuration	Result
UI[1-8] → Rack 34, Slot 1, Start 1	UI[1]=F[1], UI[2]=F[2], ... UI[8]=F[8]
UI[1-8] → Rack 34, Slot 1, Start 4	UI[1]=F[4], UI[2]=F[5], ... UI[8]=F[11]
UI[6-6] → Rack 34, Slot 1, Start 9	UI[6]=F[9]

The mapping is bidirectional: read UI state from flags, or write to flags to change UI state.

Cold start the controller after configuration.

Step 2: Pulse the Cycle Start Flag

To start the program, pulse the corresponding flag to UI[6:Cycle Start]

Controlling Program Execution via UOP

The UOP interface provides comprehensive control through UI signals:

UI Signal	Name	Function	Code Example
UI[2]	Hold	Pause program execution	`robot.Snpx.Flags.Write(2, false);`
UI[4]	Cycle Stop	Stop the current cycle	`robot.Snpx.Flags.Write(4, false);`
UI[5]	Fault Reset	Clear active alarms	`robot.Snpx.Flags.Write(5, true);`
UI[6]	Cycle Start	Start/resume program	`robot.Snpx.Flags.Write(6, true);`
UI[18]	Prod Start	Alternative production start	`robot.Snpx.Flags.Write(18, true);`

Note: You can also configure RSR, PNS, or STYLE as the Production Start Method and use UI[9-16] bound to flags to start associated programs. Refer to FANUC manuals for specific bit patterns.

// Clear any existing alarms
robot.Snpx.ClearAlarms();

// Enable remote control
robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);

// Select the program to run
string programName = "MY_PROGRAM";
robot.Snpx.StringSystemVariables.Write("$SHELL_WRK.$CUST_NAME", programName);
Console.WriteLine($"Selected program: {programName}");

// Start the program (using system variable method)
Console.WriteLine("Starting program...");
robot.Snpx.IntegerSystemVariables.Write("$SHELL_WRK.$CUST_START", 1); // or you can set the flag for UOP cycle start if that's your configured method

Protocol comparison

Feature	Telnet	CGTP	RMI	SNPX
Run program	Yes	Yes (V9.30+)	Via motion commands	Indirect (variables)
Pause	Yes (Hold)	Yes	Yes	No
Continue	Yes	No	Yes	No
Abort	Yes	Yes	Yes	No
Select/Deselect	Yes	Yes	N/A	No
Create/Delete	No	Yes	No	No

Control inputs & outputs

Documentation home

Reset alarms remotely

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