Get started with Python

🚀 TL;DR

• ✔️ No PCDK needed: Connect without Fanuc’s Robot Interface
• 📖 Read/write system variables
• 🔄 Register access for numbers, strings, and positions
• 🎬 Program control (run, pause, abort, etc.)
• 🔔 Alarm viewing and reset
• ⚡ I/O control (UI, UO, GI, GO, etc.)
• 🔍 State & diagnostics monitoring
• 📂 FTP file & variable access

No additional robot options or installations are required.

📌 Features

🖥️ 1. Telnet KCL Remote Control

Remotely send commands to the robot controller via Telnet KCL.

robot.telnet.reset()
robot.telnet.run("MyProgram")
robot.telnet.pause("MyProgram")
robot.telnet.hold("MyProgram")
robot.telnet.continue_("MyProgram")
robot.telnet.abort("MyProgram", force=True)

robot.telnet.set_variable("my_variable", 42)
robot.telnet.set_variable("$RMT_MASTER", 1)

robot.telnet.set_port("DOUT", 2, 0)
robot.telnet.simulate("DIN", 3, 1)
robot.telnet.unsimulate("DIN", 3)

🚀 2. High-Speed Data via SNPX (RobotIF)

SNPX provides fast, structured data exchange with the robot.

# Read/write position registers
position = robot.snpx.position_registers.read(1)
robot.snpx.position_registers.write(2, {"x": 100, "y": 50, "z": 25})

# Read/write numeric registers
value = robot.snpx.registers.read(1)
robot.snpx.registers.write(2, 123.45)

# Digital signals
ui_1 = robot.snpx.ui.read(1)
robot.snpx.uo.write(3, True)

# Alarms & status
robot.snpx.clear_alarms()
position = robot.snpx.current_position.read_world_position()
user_frame = robot.snpx.current_position.read_user_frame_position(1)

📂 3. FTP File and Variable Management

Transfer files and manage internal robot data via FTP.

# File transfer
robot.ftp.direct_file_handling.upload_file_to_controller("C:/Programs/MyPrg.tp", "md:/MyPrg.tp")
robot.ftp.direct_file_handling.download_file_from_controller("md:/Backup.va", "C:/Backup/Backup.va")
robot.ftp.direct_file_handling.delete_file("md:/OldProgram.tp")

# Variables
variables = robot.ftp.get_all_variables()
for var in variables:
    print(f"{var.name} = {var.value}")

# System variables
remote_mode = robot.ftp.known_variable_files.get_system_file().rmt_master

# Safety status
safety = robot.ftp.get_safety_status()
print(f"E-Stop: {safety.external_estop}, TP Enabled: {safety.tp_enable}")

# Position
position = robot.ftp.get_current_position()
print(f"X={position.cartesian.x}, Y={position.cartesian.y}, Z={position.cartesian.z}")

🔧 Robot Configuration

✅ Enable Telnet KCL

• Go to SETUP > Host Comm
• Select TELNET → [DETAIL]
• Set a password and reboot

✅ Enable FTP

• Go to SETUP > Host Comm > FTP
• Set username/password
• Perform a cold start

✅ Enable SNPX

• For FANUC America (R650 FRA): Enable option R553 “HMI Device SNPX”
• For FANUC Ltd. (R651 FRL): No additional options required

🛠 Installation

1️⃣ Clone or Download

This SDK is not on PyPI (yet). Clone this repository and install dependencies :

git clone https://github.com/underautomation/Fanuc.py.git
cd Fanuc.py
pip install -e .

2️⃣ Connect to Your Robot

from underautomation.fanuc.fanuc_robot import FanucRobot
from underautomation.fanuc.connection_parameters import ConnectionParameters

robot = FanucRobot()
robot.connect(ConnectionParameters("192.168.0.1"))

🔍 Compatibility

✅ Robot Controllers: R-J3iB, R-30iA, R-30iB
✅ OS: Windows, Linux, macOS
✅ Python: 3.5+

📢 Contributing

We welcome your feedback and contributions!

• Report issues via GitHub Issues
• Submit pull requests with enhancements
• Suggest features and improvements