TP+ is Open Source

Filed under: TP+ Open Source

This post is about 6 weeks overdue, but the full TP+ source code is now available on GitHub. I’ve already accepted some improvements from Group Six Technologies Inc, and I’m happy to accept more.

TP+ should still likely be considered beta software, but feel free to play around with it in the comfort of your own console (instead of the demo site). Please give it a try and let me know what you think!


  1. Install Ruby
  2. gem install tp_plus
  3. tpp filename.tpp >

To upgrade to the latest version: gem update tp_plus.

You can optionally include an environment file that defines some or all of your variables: tpp -e env.tpp filename.tpp >


The demo site has a fairly full example of the features, but the test suite is probably a better reference for now.

What’s Missing?

Lots of stuff. Documentation mainly, but feel free to suggest more on the project’s issues list.

I used TP+ succesfully on a pretty complex project, but I found it difficult to merge remote changes (e.g. position touchups, logic changes) back into the corresponding TP+ source. The project needs a tppsync utility that will attempt to merge remote changes back into the TP+ source code. Position data should be easy. Logic changes… probably not so easy.

I’m working on a full TP parser that will also be released as a Ruby gem. That’s the first step for tppsync, but someone could probably write a position sync utility without a full parser.

There's more where that came from.

I email (almost) every Tuesday with the latest insights, tools and techniques for programming FANUC robots. Drop your email in the box below, and I'll send new articles straight to your inbox!

No spam, just robot programming. Unsubscribe any time. No hard feelings!