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Fanuc SDK documentation

SNPX

Overview

SNPX (Also known as RobotIF, Robot Interface, or SRTP) allows for quick reading and writing of data on the robot, including:

Registers (Position, number, and string)
Variables
Signals (UI, UO, GI, GO, ...)
Clear and read alarms
Read the status programs

TCP port Robot IF Server (by default 60008) should be accessible on your controller.

Differences with official Fanuc Robot Interface

Fanuc also provides a Robot Interface client implementation (FRRJIF.DLL) and here are the main differences:

	UnderAutomation.Fanuc.dll	FRRJIF.DLL
Editor	UnderAutomation	Fanuc Ltd.
Technology	100% managed .NET assembly	native ActiveX / COM
Portability	No dependencies, the DLL can be moved	Requires installation with a setup program, especially for license management
Price and conditions	Pay once at an affordable price, forever, with no recurring charges No matter : how many piece of software you redistribute how many developers you have in your team how many robots you have	Developer + runtime licences Contact Fanuc to find out your terms of use

Robot options

To enable SNPX on your robot, you need one of the following option :

If R650 FRA params is selected (Option "FANUC America Corp." in "Advanced" tab of ROBOGUIDE "Worcell creation wizard - Step 7 Robot options"), R553 "HMI Device SNPX" is needed.
If R651 FRL Params is selected (Option "FANUC Ltd." in this "Advanced" tab), no option is needed.

Features

Not all functions have been documented yet, but you can take a look at the Winforms project source which implements all these features. I can be downloaded here.

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common;

  public class Snpx
  {
    static void Main()
    {
      // Create a new Fanuc robot instance
      FanucRobot robot = new FanucRobot();

      // Set connection parameters
      ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
      parameters.Snpx.Enable = true;

      // Connect to the robot
      robot.Connect(parameters);

      /**/
      // Read a register
      Position posReg1 = robot.Snpx.PositionRegisters.Read(1);
      float numReg5 = robot.Snpx.NumericRegisters.Read(5);
      string strReg10 = robot.Snpx.StringRegisters.Read(10);

      // Write a register
      posReg1.CartesianPosition.X = 100;
      robot.Snpx.PositionRegisters.Write(1, posReg1);
      robot.Snpx.NumericRegisters.Write(2, 123.45f);
      robot.Snpx.StringRegisters.Write(3, "Hello, world!");

      // Read a variable
      int rmtMaster = robot.Snpx.IntegerSystemVariables.Read("$RMT_MASTER");
      string lastAlm = robot.Snpx.StringSystemVariables.Read("$ALM_IF.$LAST_ALM");
      Position cellFloor = robot.Snpx.PositionSystemVariables.Read("$CELL_FLOOR");

      // Write a system variable
      robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);
      robot.Snpx.StringSystemVariables.Write("$ALM_IF.$LAST_ALM", "No alarms");
      robot.Snpx.PositionSystemVariables.Write("$CELL_FLOOR", cellFloor);

      // Write a Karel program variable
      robot.Snpx.IntegerSystemVariables.Write("$[KarelProgram]KarelVariable", 1);

      // Read and Write I/O (SDI,SDO,RDI,RDO,UI,UO,SI,SO,WI,WO,WSI,PMC_K,PMC_R)
      robot.Snpx.RDO.Write(1, true);
      ushort ai5 = robot.Snpx.AI.Read(5);

      // Read and Write analogs (AI,AO,GI,GO,PMC_D)
      robot.Snpx.AO.Write(2, 5);
      ushort ao3 = robot.Snpx.AO.Read(3);

      // Clear alarms
      robot.Snpx.ClearAlarms();
      /**/
    }

  }

SNPX use case :

SNPX

Check if SNPX is available

By FTP, you can check if SNPX is available on the robot controller by checking the installed features.

// Get all installed features
Features features = _robot.Ftp.GetSummaryDiagnostic().Features;
// Check if SNPX is available
bool isSnpxAvailable = features.HasSnpx;

API reference

Snpx Client

Members of Snpx.SnpxClient :

public class SnpxClient : SnpxClientBase {
     public SnpxClient()
     public void Connect(string ip, int port = 60008)
}

Members of Snpx.Internal.SnpxClientBase :

public class SnpxClientBase {
 
    // Analog Inputs
    public NumericIO AI { get; }
 
    // Analog Outputs
    public NumericIO AO { get; }
     public void ClearAlarms()
     public void ClearAssignments()
     protected void ConnectInternal(string ip, int port = 60008)
     public bool Connected { get; }
 
    // List of all digital signal accessors (SDI, SDO, RDI, RDO, ...)
    public DigitalSignals[] DigitalSignals { get; }
     public void Disconnect()
 
    // Group Inputs
    public NumericIO GI { get; }
 
    // Group Outputs
    public NumericIO GO { get; }
     public Assignment[] GetAssignments()
 
    // Integer variables
    public IntegerSystemVariables IntegerSystemVariables { get; }
     public string Ip { get; }
 
    // List of all Numeric IOs accessors (GI, GO, AI, AO, ...)
    public NumericIO[] NumericIOs { get; }
 
    // Number registers
    public NumericRegisters NumericRegisters { get; }
 
    // Programmable Machine Controller Data
    public NumericIO PMC_D { get; }
 
    // Programmable Machine Controller Constants
    public DigitalSignals PMC_K { get; }
 
    // Programmable Machine Controller Relays
    public DigitalSignals PMC_R { get; }
 
    // Position registers
    public PositionRegisters PositionRegisters { get; }
 
    // Position variables
    public PositionSystemVariables PositionSystemVariables { get; }
 
    // Remote Digital Inputs
    public DigitalSignals RDI { get; }
 
    // Remote Digital Outputs
    public DigitalSignals RDO { get; }
 
    // Safety Digital Inputs
    public DigitalSignals SDI { get; }
 
    // Safety Digital Outputs
    public DigitalSignals SDO { get; }
 
    // System Inputs
    public DigitalSignals SI { get; }
 
    // System Outputs
    public DigitalSignals SO { get; }
 
    // String registers
    public StringRegisters StringRegisters { get; }
 
    // String variables
    public StringSystemVariables StringSystemVariables { get; }
 
    // User Inputs
    public DigitalSignals UI { get; }
 
    // User Outputs
    public DigitalSignals UO { get; }
 
    // Weld Inputs
    public DigitalSignals WI { get; }
 
    // Weld Outputs
    public DigitalSignals WO { get; }
 
    // Weld System Inputs
    public DigitalSignals WSI { get; }
}

Inputs and Outputs

Members of Snpx.Internal.DigitalSignals :

public class DigitalSignals : SnpxElements<bool, int> {
     public override bool Read(int index)
     public bool[] Read(int firstIndex, ushort count)
     public SegmentName SegmentName { get; }
     public SegmentOffset SegmentOffset { get; }
     public SegmentSelector SegmentSelector { get; }
     public void Write(int index, bool value)
     public void Write(int firstIndex, bool[] values)
}

Members of Snpx.Internal.NumericIO :

public class NumericIO : SnpxElements<ushort, int> {
     public override ushort Read(int index)
     public ushort[] Read(int firstIndex, ushort count)
     public SegmentName SegmentName { get; }
     public SegmentOffset SegmentOffset { get; }
     public SegmentSelector SegmentSelector { get; }
     public void Write(int index, ushort value)
     public void Write(int firstIndex, ushort[] values)
}

Registers

Members of Snpx.Internal.NumericRegisters :

public class NumericRegisters : SnpxWritableAssignableElements<float, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override float ReadFromClient(int offset)
     protected override void WriteInClient(int offset, float value)
}

Members of Snpx.Internal.PositionRegisters :

public class PositionRegisters : SnpxWritableAssignableElements<Position, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override Position ReadFromClient(int offset)
     protected override void WriteInClient(int offset, Position value)
}

Variables

Note that you can read and write Karel program variables by using the variable name $[KarelProgram]KarelVariable.

Members of Snpx.Internal.PositionSystemVariables :

public class PositionSystemVariables : SnpxWritableAssignableElements<Position, string> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override Position ReadFromClient(int offset)
     protected override void WriteInClient(int offset, Position value)
}

Members of Snpx.Internal.StringRegisters :

public class StringRegisters : SnpxWritableAssignableElements<string, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override string ReadFromClient(int offset)
     protected override void WriteInClient(int offset, string value)
}

Members of Snpx.Internal.StringSystemVariables :

public class StringSystemVariables : SnpxWritableAssignableElements<string, string> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override string ReadFromClient(int offset)
     protected override void WriteInClient(int offset, string value)
}

Read and decode files

Documentation home

Reading & Writing Registers

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SNPX

On this page :

Overview

Differences with official Fanuc Robot Interface

Robot options

Features

Check if SNPX is available

API reference

Snpx Client

Inputs and Outputs

Registers

Variables