UnderAutomation
有问题吗？

[email protected]

联系我们
UnderAutomation
⌘Q
文档文章仅提供英文版本。

Fanuc SDK 文档

只需几行代码，即可将您的应用程序连接到 Fanuc 机器人。

无需在机器人上安装任何软件

SDK 使用控制器的网络协议。
.NETPythonLabVIEWMatlab

.NET · Python · LabVIEW · Matlab

每种语言都有相同的功能和相同的 API。

30 天免费试用

之后购买永久许可证，无需订阅。
下载价格

有问题？

关于 SDK： 联系我们
关于机器人： Robot-Forum

向 AI 咨询 Fanuc SDK

Fanuc SDK 文档
询问 ChatGPTChatGPT询问 Claude WebClaude Web询问 Claude DesktopClaude Desktop询问 GrokGrok询问 PerplexityPerplexity询问 MistralMistral

AI 可能会出错。请在文档中核实其回答。

Get started

Get started with .NET

Add the Fanuc SDK to a C# or VB.NET project from NuGet or as a DLL, and write a first program for a Fanuc controller or ROBOGUIDE. One managed DLL, .NET Framework 3.5 to .NET Standard 2.1.

Get started with Python

Install the Fanuc SDK from PyPI and control a Fanuc controller or ROBOGUIDE from Python 3.7 to 3.13, on Windows, Linux and macOS. Same features as the .NET library, with Python names.

Get started with LabVIEW

Control a Fanuc robot from LabVIEW 2010 to 2024 with the VIs of UnderAutomation.Fanuc.lvlib: Telnet KCL, FTP and SNPX. Nothing to install on the controller.

Get started with Matlab

Load the .NET DLL of the Fanuc SDK in Matlab with NET.addAssembly, then read registers, positions and I/O of a Fanuc controller from a Matlab script.

Try the SDK with the demo application

A Windows application, one executable and open source, that calls the features of the SDK. Test what your Fanuc controller answers before you write any code.

Connect to your robot

The protocols of the SDK, their options and setup on the controller, the connection parameters, and the connection to a real Fanuc robot or to ROBOGUIDE.

Test with ROBOGUIDE

Develop without a real robot. Connect the SDK to a virtual robot of FANUC ROBOGUIDE with the folder of the robot, like to a real controller.

Licensing

The 30 day trial, the license key and RegisterLicense, the license states, the maintenance and the source license of the Fanuc SDK.

AI agent skills

Install the skill of the Fanuc SDK in Claude Code, Codex, GitHub Copilot or Cursor, for C# or Python. The agent then answers with the documentation and the API of your SDK version.

CGTP

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.

Program management

Create, delete, rename, run, pause, abort programs and manage their attributes (comment, owner, subtype) via CGTP.

Registers & variables

Read and write numeric, position, and string registers, system variables, and perform batch operations via CGTP.

Inputs & Outputs

Read, write, simulate, and unsimulate digital, analog, group, and robot I/O ports via CGTP.

Position & kinematics

Read current Cartesian and joint positions, and compute forward and inverse kinematics directly on the controller via CGTP.

Alarms, comments & files

Manage user alarms, read/write register and I/O comments, list and download files from the controller via CGTP.

KCL commands

Send KCL commands through the web server instead of Telnet. Unsafe commands without result, and when to use RunProgram.

SNPX

SNPX overview

SNPX (also known as RobotIF or SRTP) is a high-speed protocol for reading and writing registers, variables, I/O signals, alarms, and positions in less than 2 ms.

Registers

Read and write numeric registers (R[]), position registers (PR[]), string registers (SR[]), and flags (F[]) via SNPX.

Inputs & Outputs

Read and write digital signals (SDI, SDO, RDI, RDO, UI, UO, SI, SO, WI, WO) and numeric I/O (GI, GO, AI, AO) via SNPX.

System variables

Read and write integer, real, position, and string system variables on the Fanuc controller via SNPX.

Current position

Read the current robot position in world coordinates or user frame coordinates, for single or multi-group controllers.

Alarms & task status

Read active alarms, alarm history, clear alarms, monitor running tasks, and read/write comments via SNPX.

Batch reading

Read groups of registers, variables, or signals in a single command for maximum performance using SNPX batch assignments.

Telnet

Telnet overview

Telnet KCL (Keyboard Command Line) sends commands to a Fanuc robot: run programs, reset alarms, read and write variables, control I/O ports.

Enable Telnet on your robot

TELNET is natively available on ROBOGUIDE and all Fanuc robots without any option. Learn how to enable it step by step.

Program control via Telnet

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

Variables & I/O via Telnet

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

Debugging & breakpoints

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

FTP

FTP overview

FTP provides access to internal controller files including variables, programs, diagnostics, safety status, and current position.

File management

Upload, download, delete, rename files and directories on the Fanuc robot controller via FTP.

Diagnostics & variables

Read safety status, current position, I/O state, installed features, error history, registers, and system variables via FTP.

RMI

RMI overview

RMI (Remote Motion Interface) is a TCP-based protocol for sending motion commands, managing frames, and controlling the robot remotely.

Motion commands

Send linear, joint, and circular motion commands with configurable speed, termination type, and acceleration via RMI.

Frames, I/O & status

Manage user frames and tools, read/write I/O, read positions, set speed override, and get controller status via RMI.

Stream Motion

Stream Motion overview

Stream Motion (J519 option) gives the position of the robot at every communication cycle (2 to 8 ms). Requirements, TP program, protocol versions and quick start.

Connection, status & session

Connect to the robot, read its status and its velocity, acceleration and jerk limits, and run one or several Stream Motion sessions.

Send trajectories

Queue joint or Cartesian trajectories, send your own positions, and control the motion with override, pause and abort.

Real-time control

Make the robot follow a target that changes at any time, or compute the position of the robot at every cycle with a callback.

I/O during motion

Read and write digital I/O with each position sent to the robot, and switch outputs at a precise point of a trajectory.

Troubleshooting & best practices

Handle Stream Motion errors, understand the usual MOTN alarms, and follow the good practices for smooth and reliable motions.

Motion

Motion planner overview

Create smooth robot trajectories offline, with velocity, acceleration and jerk limits, using FANUC motion instructions (J, L, C, FINE, CNT, CR).

Joint & Cartesian motions

Chain joint, linear and circular motions with FINE, CNT and CR terminations, waits and I/O, in tool and user frames.

Splines & shapes

Pass through a list of points with a smooth spline, and draw circles, rectangles, polygons, helices and spirals in any plane.

Trajectories from points

Create trajectories from your own positions, sampled or timed, check them against the limits of the robot, and slow them down if needed.

Frames & orientations

Convert W, P, R angles to quaternions, interpolate orientations, and change frames between flange, tool, user frame and world frame.

Offline tools

Forward & Inverse Kinematics

Perform forward and inverse kinematics calculations offline for FANUC industrial robots and CRX cobots using DH parameters.

Offline file parsing

Parse and decode Fanuc variable files (.va), error lists (.ls), I/O state, safety status, and current position files without a robot connection.

How-To Articles

Read & write registers

Compare all methods to read and write numeric, position, and string registers on a Fanuc robot: SNPX, FTP, CGTP, and Telnet.

Get current position

Retrieve the current robot position (joint and Cartesian) using SNPX, FTP, CGTP, or Telnet. Compare approaches and choose the best for your use case.

Control inputs & outputs

Set, read, simulate, and unsimulate I/O ports on a Fanuc robot using SNPX, CGTP, or Telnet. Compare port types and methods.

Run a program remotely

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

Reset alarms remotely

Clear and reset alarms on a Fanuc robot using SNPX, Telnet, or CGTP. Read active alarms and alarm history.

Read & write system variables

Access and modify Fanuc system variables ($RMT_MASTER, $MCR.$GENOVERRIDE, etc.) using Telnet, SNPX, CGTP, or FTP.

Monitor task execution

Supervise running programs, check task states, line numbers, and calling programs using SNPX, FTP, or Telnet.

Move robot remotely

Move a Fanuc robot from an external application using RMI motion commands, Stream Motion real-time streaming, or DPM with SNPX.

Upload, download & backup files

Transfer TP programs, variable files, and backups between your PC and a Fanuc controller using FTP or CGTP.

Read & write I/O comments

Read and write comments (descriptions) for registers and I/O ports using SNPX or CGTP.

Access Karel program variables

Read and write Karel program variables using SNPX ($[Program]Variable syntax), CGTP, or FTP variable files.

Optimize with batch operations

Maximize read/write performance using SNPX batch assignments and CGTP batch variables for high-frequency data exchange.

Move robot with mouse

Control a FANUC robot in real time using Dynamic Path Modification (DPM) and SNPX. Ideal for joystick or 6D mouse teleoperation setups.

TP editor with breakpoints

Prototype your own TP Editor with syntax highlighting and breakpoint debugging using Telnet and FTP features.

Legal notice and acknowledgements

Legal notice and acknowledgements for the UnderAutomation Fanuc SDK.

View as Markdown