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Program management

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

List programs
Source code editing
Run a program
Create a program
Pause, abort, resume, get and set attributes
API reference

CGTP provides rich program management features: create, delete, rename, run, pause, configure program properties, list programs, and edit source code.

List programs

Retrieve all TP or Karel programs on the controller, filtered by type and sub-type. You can also list all TP programs at once, regardless of their sub-type.

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// List all TP programs on the controller (all sub-types)
string[] allTpPrograms = robot.Cgtp.ListTpPrograms();
foreach (string prog in allTpPrograms)
{
    Console.WriteLine(prog);
}

// List TP programs of a specific sub-type
string[] jobs = robot.Cgtp.ListPrograms(CgtpProgramType.Tp, CgtpProgramSubType.Job);
string[] macros = robot.Cgtp.ListPrograms(CgtpProgramType.Tp, CgtpProgramSubType.Macro);

// List Karel programs
string[] karelPrograms = robot.Cgtp.ListPrograms(CgtpProgramType.Karel, CgtpProgramSubType.None);
}
}

Click to see the full code

Source code editing

Insert, replace, or delete lines in a TP program directly on the controller. Requires firmware V9.10+.

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Insert a new line before line 3 in program MY_PROGRAM
robot.Cgtp.InsertSourceLine("MY_PROGRAM", "L P[5] 100mm/sec FINE", 3);

// Replace the content of line 5
robot.Cgtp.ReplaceSourceLine("MY_PROGRAM", "J P[1] 50% FINE", 5);

// Delete 2 lines starting at line 4
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 4, 2);

// Delete a single line
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 1);
}
}

Click to see the full code

Run a program

Run a specific program starting from a given line (default: line 1). Requires firmware V9.30+.

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Run program from line 1
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");

// Change the currently active program
robot.Cgtp.ChangeActiveProgram("MY_PROGRAM");

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

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

Click to see the full code

Create a program

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Create a program
robot.Cgtp.CreateProgram(
    progName: "NEW_PROG",
    owner: "UnderAutomation",
    comment: "Created via CGTP",
    defaultGroup: 1,
    subType: CgtpProgramSubType.Job);

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

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

// Program properties
string comment = robot.Cgtp.GetProgramComment("MY_PROGRAM");
robot.Cgtp.SetProgramComment("MY_PROGRAM", "Updated comment");
string owner = robot.Cgtp.GetProgramOwner("MY_PROGRAM");
robot.Cgtp.SetProgramOwner("MY_PROGRAM", "Admin");
int stack = robot.Cgtp.GetProgramStackSize("MY_PROGRAM");
robot.Cgtp.SetProgramStackSize("MY_PROGRAM", 200);
robot.Cgtp.SetProgramIgnorePause("MY_PROGRAM", true);
robot.Cgtp.SetProgramWriteProtect("MY_PROGRAM", true);
robot.Cgtp.SetProgramSubType("MY_PROGRAM", CgtpProgramSubType.Macro);
}
}

Click to see the full code

Available sub-types: None, Job, Process, Macro, Condition.

Pause, abort, resume, get and set attributes

CGTP allows you to completely manage programs on the robot, including creation, deletion, renaming, and execution control. Here's a complete example demonstrating these features:


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");

// List all TP programs
string[] programs = robot.Cgtp.ListTpPrograms();

// Edit source code (firmware V9.10+)
robot.Cgtp.InsertSourceLine("MY_PROGRAM", "L P[5] 100mm/sec FINE", 3);
robot.Cgtp.ReplaceSourceLine("MY_PROGRAM", "J P[1] 50% FINE", 5);
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 4, 2);

// 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);
}
}

Click to see the full code

API reference

Enum

CgtpProgramType

C#Python

Type of a TP program on the controller.

Name	Value	Description
Karel	2	Karel program
Tp	1	TP program

Enum

CgtpProgramSubType

C#Python

Sub-type of a TP program on the controller.

Name	Value	Description
Condition	4	Condition handler program.
Job	1	Job program.
Macro	3	Macro program.
None	0	No specific sub-type.
Process	2	Process program.

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Program management

List programs

Source code editing

Run a program

Create a program

Pause, abort, resume, get and set attributes

API reference