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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.

Digital signals
Read and write digital signals
Numeric I/O
Read and write numeric I/O
Complete example
API reference

SNPX supports 13 digital signal types and 5 numeric I/O types, all with single and range read/write operations.

Digital signals

Digital signals are boolean values. The following types are available:

Type	Description
`SDI` / `SDO`	Standard Digital Input / Output
`RDI` / `RDO`	Robot Digital Input / Output
`UI` / `UO`	User Input / Output
`SI` / `SO`	System Input / Output
`WI` / `WO`	Weld Input / Output
`WSI`	Wire Stick Input
`PMC_K`	PMC Keep Relays
`PMC_R`	PMC Internal Relays

Read and write digital signals

parameters.Snpx.Enable = true;
robot.Connect(parameters);
// Read SDI[10]
bool sdi10 = robot.Snpx.SDI.Read(10);

// Write RDO[1] = ON
robot.Snpx.RDO.Write(1, true);

// Read UI[5]
bool ui5 = robot.Snpx.UI.Read(5);

// Read 100 SDI signals starting at index 1
bool[] values = robot.Snpx.SDI.Read(1, 100);

// Write 3 SDO signals starting at index 1
robot.Snpx.SDO.Write(1, new[] { true, false, true });
}
}

Click to see the full code

Numeric I/O

Numeric I/O signals are 16-bit unsigned integers (ushort):

Type	Description
`GI` / `GO`	Group Input / Output
`AI` / `AO`	Analog Input / Output
`PMC_D`	PMC Data

Read and write numeric I/O

parameters.Snpx.Enable = true;
robot.Connect(parameters);
// Read GI[1]
ushort gi1 = robot.Snpx.GI.Read(1);

// Write GO[1] = 500
robot.Snpx.GO.Write(1, 500);

// Read AI[1]
ushort ai1 = robot.Snpx.AI.Read(1);

// Write AO[2] = 32767
robot.Snpx.AO.Write(2, 32767);

// Read a range of GI values
ushort[] giValues = robot.Snpx.GI.Read(1, 100);
}
}

Click to see the full code

Complete example

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

public class SnpxIo
{
  public static void Main()
  {
    FanucRobot robot = new FanucRobot();

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

    robot.Connect(parameters);

    
    // --- Digital signals (boolean) ---

    // Read a single digital input
    bool sdi10 = robot.Snpx.SDI.Read(10);

    // Write a single digital output
    robot.Snpx.RDO.Write(1, true);

    // Read a range of digital inputs (100 signals starting at index 1)
    bool[] sdiRange = robot.Snpx.SDI.Read(1, 100);

    // Write a range of digital outputs
    robot.Snpx.SDO.Write(1, new[] { true, false, true });

    // Other digital signal types: UI, UO, SI, SO, WI, WO, WSI, PMC_K, PMC_R
    bool ui5 = robot.Snpx.UI.Read(5);
    robot.Snpx.SO.Write(3, false);


    // --- Numeric I/O (ushort) ---

    // Read Group Input
    ushort gi1 = robot.Snpx.GI.Read(1);

    // Write Group Output
    robot.Snpx.GO.Write(1, 500);

    // Read Analog Input
    ushort ai1 = robot.Snpx.AI.Read(1);

    // Write Analog Output
    robot.Snpx.AO.Write(2, 32767);

    // Read a range of numeric I/O
    ushort[] giRange = robot.Snpx.GI.Read(1, 100);

    // Other numeric I/O types: PMC_D
    ushort pmcD = robot.Snpx.PMC_D.Read(1);
    
  }
}

API reference

Class

DigitalSignalsinherits SnpxElements<bool,int>

C#Python

Provides read/write access to digital I/O signals on the robot.

Member	Type	Description
SegmentName Property read only	SegmentName	Gets the segment name identifying this signal group.
SegmentOffset Property read only	SegmentOffset	Gets the segment offset for this signal group.
SegmentSelector Property read only	SegmentSelector	Gets the segment selector for this signal group.
Read(int) Method	bool	Reads the digital signal at the specified index. index : The signal index (1-based).
Read(int, ushort) Method	bool[]	Reads a range of digital signals. firstIndex : The first signal index (1-based). count : The number of signals to read.
Write(int, bool) Method	void	Writes a value to the digital signal at the specified index. index : The signal index (1-based). value : The boolean value to write.
Write(int, bool[]) Method	void	Writes values to consecutive digital signals. firstIndex : The first signal index (1-based). values : The boolean values to write.

Class

NumericIOinherits SnpxElements<ushort,int>

C#Python

Provides read/write access to numeric (group/analog) I/O on the robot.

Member	Type	Description
SegmentName Property read only	SegmentName	Gets the segment name identifying this I/O group.
SegmentOffset Property read only	SegmentOffset	Gets the segment offset for this I/O group.
SegmentSelector Property read only	SegmentSelector	Gets the segment selector for this I/O group.
Read(int) Method	ushort	Reads the numeric I/O value at the specified index. index : The I/O index (1-based).
Read(int, ushort) Method	ushort[]	Reads a range of numeric I/O values. firstIndex : The first I/O index (1-based). count : The number of values to read.
Write(int, ushort) Method	void	Writes a value to the numeric I/O at the specified index. index : The I/O index (1-based). value : The value to write.
Write(int, ushort[]) Method	void	Writes values to consecutive numeric I/O. firstIndex : The first I/O index (1-based). values : The values to write.

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