This page is only available in English.

Fanuc SDK documentation

SNPX

SNPX is a protocol that allows you to fast read and write data on the robot (registers, variables, alarms, IOs, etc.)

Overview
Differences with official Fanuc Robot Interface
Robot options
Performances
Features
Check if SNPX is available
Demonstration
API reference

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
Read/write command execution time	2 ms	30 ms
Pricing 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	Pay for developer licenses Then, pay for each runtimes 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.

Performances

SNPX is a fast protocol, allowing you to read and write data in less than 2 ms.

Benchmarks show that regardless of the amount of data transported in a command, it takes the same amount of time to execute. For example, you can read 80 position registers or write a variable in a few milliseconds.

This protocol is obviously not real-time or deterministic; execution time depends on the CPU load of your robot controller, network load, and computer performance.

When used on a robot simulated with ROBOGUIDE, execution times of less than 1 ms can even be achieved.

Features

Read current position

Here's how to read the current position of the main robot arm or another group driven by the controller.

Note: The current position is that of the current tool.

World current position

Method CurrentPosition.ReadWorldPosition returns the current position of the robot in the world coordinate system.

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

public class SnpxCurrentWorldPosition
{
  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 current world position
    Position worldPosition = robot.Snpx.CurrentPosition.ReadWorldPosition();

    // Access the Cartesian position
    double x = worldPosition.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = worldPosition.UserTool;

    // Access the joint positions
    double j1 = worldPosition.JointsPosition.J1;

    // Read a current world position of group 2
    Position worldPositionG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    /**/
  }

}

User frame current position

Method CurrentPosition.ReadUserFramePosition returns the current position of the robot in the specified user frame.

Note: if you use user frame 15, the selected user frame in the pendant is used.

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

public class SnpxCurrentUserFramePosition
{
  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 user frame 2 position
    Position userFrame = robot.Snpx.CurrentPosition.ReadUserFramePosition(1);

    // Access the Cartesian position
    double x = userFrame.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = userFrame.UserTool;

    // Access the user frame id
    short usertFrame = userFrame.UserFrame;

    // Access the joint positions
    double j1 = userFrame.JointsPosition.J1;

    // Read a current world position of group 2
    Position userFrameG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    /**/
  }

}

Read/write IOs, registers and Variables

You can read and write position registers, numeric registers, string registers, and system variables.

Intermediate objects (NumericRegisters, PositionRegisters, ..., SDI, SO, ..., PositionSystemVariables, ...) contain Read and Write methods that take the ID or name of the data to be read or written as a parameter.

Note 1: For position-type objects, two additional methods are available to specifically write the position in joint or Cartesian coordinates.

Note 2: you can read and write Karel program variables by using the variable name $[KarelProgram]KarelVariable.

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();
      /**/
    }

  }

Read in batch

To improve the read speed of a group of registers or variables, you can create a custom assignment to read this set in a single command rather than one read command per register.

For each type of register or variable, a CreateBatchAssignment method allows you to create this custom assignment by specifying the list of variables or registers to read, or the range of data to read (start index and size).

Then, a Read() method on the returned object triggers the batch reading of this data.

// Create a batch read assignment
private NumericRegistersBatchAssignment _NumericRegistersBatchAssignment;

public void Setup()
{


  _NumericRegistersBatchAssignment = _robot.Snpx.NumericRegisters.CreateBatchAssignment(NumericRegisterStartIndex, BlockSize);

}


public void ReadNumericRegisters()
{
  float[] values = _NumericRegistersBatchAssignment.Read();
}

Acknowledge alarms

You can acknowledge alarms by using the ClearAlarms method.

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;

Demonstration

You can take a look at the Winforms Desktop project source which implements all these features. I can be downloaded here.

SNPX

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; }
 
    // Current active alarms
    public AlarmAccess ActiveAlarm { get; }
 
    // Alarm history
    public AlarmAccess AlarmHistory { get; }
 
    // Clear all active alarms
    public void ClearAlarms()
 
    // Clear all assignments
    public void ClearAssignments()
     protected void ConnectInternal(string ip, int port = 60008)
     public bool Connected { get; }
 
    // Current position in world or user frame
    public CurrentPosition CurrentPosition { get; }
 
    // List of all digital signal accessors (SDI, SDO, RDI, RDO, ...)
    public DigitalSignals[] DigitalSignals { get; }
 
    // Disconnect from the robot
    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; }
 
    // Real variables
    public RealSystemVariables RealSystemVariables { 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; }
 
    // Set boolean variable without assignments
    public void SetVariable(string name, bool value)
 
    // Set double variable without assignments
    public void SetVariable(string name, double value)
 
    // Set integer variable without assignments
    public void SetVariable(string name, int value)
 
    // Set string variable without assignments
    public void SetVariable(string name, string value)
 
    // 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, NumericRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public NumericRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     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, PositionRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public PositionRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override Position ReadFromClient(int offset)
     public void Write(int index, CartesianPosition cartesianPosition)
     public void Write(int index, ExtendedCartesianPosition extendedCartesianPosition)
     public void Write(int index, JointsPosition jointsPosition)
     protected override void WriteInClient(int offset, Position value)
}

Position

Members of Common.Position :

public class Position {
     public Position()
     public Position(short userFrame, short userTool, JointsPosition jointsPosition, ExtendedCartesianPosition cartesianPosition)
     public ExtendedCartesianPosition CartesianPosition { get; set; }
     public JointsPosition JointsPosition { get; set; }
     public short UserFrame { get; set; }
     public short UserTool { get; set; }
}

Members of Common.JointsPosition :

public class JointsPosition {
     public JointsPosition()
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg)
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg, double j7Deg, double j8Deg, double j9Deg)
     public JointsPosition(double[] values)
 
    // Check if joints position is near to expected joints position with a tolerance value
    public static bool IsNear(JointsPosition j1, JointsPosition j2, double degreesTolerance)
     public double this[int i] { get; set; }
 
    // Joint 1 in degrees
    public double J1 { get; set; }
 
    // Joint 2 in degrees
    public double J2 { get; set; }
 
    // Joint 3 in degrees
    public double J3 { get; set; }
 
    // Joint 4 in degrees
    public double J4 { get; set; }
 
    // Joint 5 in degrees
    public double J5 { get; set; }
 
    // Joint 6 in degrees
    public double J6 { get; set; }
 
    // Joint 7 in degrees
    public double J7 { get; set; }
 
    // Joint 8 in degrees
    public double J8 { get; set; }
 
    // Joint 9 in degrees
    public double J9 { get; set; }
     public override string ToString()
 
    // Numeric values for each joints
    public double[] Values { get; }
}

Members of Common.ExtendedCartesianPosition :

public class ExtendedCartesianPosition : CartesianPosition {
     public ExtendedCartesianPosition()
     public ExtendedCartesianPosition(double x, double y, double z, double w, double p, double r, double e1, double e2, double e3)
     public double E1 { get; set; }
     public double E2 { get; set; }
     public double E3 { get; set; }
}

Members of Common.CartesianPosition :

public class CartesianPosition : XYZPosition {
 
    // Default constructor
    public CartesianPosition()
 
    // Constructor with position and rotations
    public CartesianPosition(double x, double y, double z, double w, double p, double r)
     public CartesianPosition(double x, double y, double z, double w, double p, double r, Configuration configuration)
     public CartesianPosition(CartesianPosition position)
     public CartesianPosition(XYZPosition position, double w, double p, double r)
 
    // Position configuration
    public Configuration Configuration { get; }
 
    // Create a CartesianPosition with unknow configuration from a homogeneous rotation and translation 4x4 matrix
    public static CartesianPosition FromHomogeneousMatrix(double[,] R)
 
    // Check if two Cartesian positions are near each other within specified tolerances
    public static bool IsNear(CartesianPosition a, CartesianPosition b, double mmTolerance, double degreesTolerance)
 
    // Normalize an angle to the range ]-180, 180]
    public static double NormalizeAngle(double angle)
 
    // Normalize the W, P, R angles to the range ]-180, 180]
    public static void NormalizeAngles(CartesianPosition pose)
 
    // P rotation in degrees (Ry)
    public double P { get; set; }
 
    // R rotation in degrees (Rz)
    public double R { get; set; }
 
    // Convert position to a homogeneous rotation and translation 4x4 matrix
    public double[,] ToHomogeneousMatrix()
     public override string ToString()
 
    // W rotation in degrees (Rx)
    public double W { get; set; }
}

Members of Common.XYZPosition :

public class XYZPosition {
     public XYZPosition()
     public XYZPosition(double x, double y, double z)
     public override string ToString()
 
    // X coordinate in millimeters
    public double X { get; set; }
 
    // Y coordinate in millimeters
    public double Y { get; set; }
 
    // Z coordinate in millimeters
    public double Z { get; set; }
}

Variables

Members of Snpx.Internal.PositionSystemVariables :

public class PositionSystemVariables : SnpxWritableAssignableElements<Position, string, PositionSystemVariablesBatchAssignment> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override Position ReadFromClient(int offset)
     public void Write(string variable, CartesianPosition cartesianPosition)
     public void Write(string variable, ExtendedCartesianPosition extendedCartesianPosition)
     public void Write(string variable, JointsPosition jointsPosition)
     protected override void WriteInClient(int offset, Position value)
}

Members of Snpx.Internal.StringRegisters :

public class StringRegisters : SnpxWritableAssignableElements<string, int, StringRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public StringRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     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, StringSystemVariablesBatchAssignment> {
     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

Inverse and Forward Kinematics

This page is only available in English.

Fanuc SDK documentation

Read and decode files

Documentation home

Inverse and Forward Kinematics

SNPX

SNPX is a protocol that allows you to fast read and write data on the robot (registers, variables, alarms, IOs, etc.)

Overview
Differences with official Fanuc Robot Interface
Robot options
Performances
Features
Check if SNPX is available
Demonstration
API reference

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
Read/write command execution time	2 ms	30 ms
Pricing 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	Pay for developer licenses Then, pay for each runtimes 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.

Performances

SNPX is a fast protocol, allowing you to read and write data in less than 2 ms.

This protocol is obviously not real-time or deterministic; execution time depends on the CPU load of your robot controller, network load, and computer performance.

When used on a robot simulated with ROBOGUIDE, execution times of less than 1 ms can even be achieved.

Features

Read current position

Here's how to read the current position of the main robot arm or another group driven by the controller.

Note: The current position is that of the current tool.

World current position

Method CurrentPosition.ReadWorldPosition returns the current position of the robot in the world coordinate system.

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

public class SnpxCurrentWorldPosition
{
  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 current world position
    Position worldPosition = robot.Snpx.CurrentPosition.ReadWorldPosition();

    // Access the Cartesian position
    double x = worldPosition.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = worldPosition.UserTool;

    // Access the joint positions
    double j1 = worldPosition.JointsPosition.J1;

    // Read a current world position of group 2
    Position worldPositionG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    /**/
  }

}

User frame current position

Method CurrentPosition.ReadUserFramePosition returns the current position of the robot in the specified user frame.

Note: if you use user frame 15, the selected user frame in the pendant is used.

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

public class SnpxCurrentUserFramePosition
{
  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 user frame 2 position
    Position userFrame = robot.Snpx.CurrentPosition.ReadUserFramePosition(1);

    // Access the Cartesian position
    double x = userFrame.CartesianPosition.X;

    // Access the user tool at this cartesian position
    short usertTool = userFrame.UserTool;

    // Access the user frame id
    short usertFrame = userFrame.UserFrame;

    // Access the joint positions
    double j1 = userFrame.JointsPosition.J1;

    // Read a current world position of group 2
    Position userFrameG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
    /**/
  }

}

Read/write IOs, registers and Variables

You can read and write position registers, numeric registers, string registers, and system variables.

Note 1: For position-type objects, two additional methods are available to specifically write the position in joint or Cartesian coordinates.

Note 2: you can read and write Karel program variables by using the variable name $[KarelProgram]KarelVariable.

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();
      /**/
    }

  }

Read in batch

To improve the read speed of a group of registers or variables, you can create a custom assignment to read this set in a single command rather than one read command per register.

Then, a Read() method on the returned object triggers the batch reading of this data.

// Create a batch read assignment
private NumericRegistersBatchAssignment _NumericRegistersBatchAssignment;

public void Setup()
{


  _NumericRegistersBatchAssignment = _robot.Snpx.NumericRegisters.CreateBatchAssignment(NumericRegisterStartIndex, BlockSize);

}


public void ReadNumericRegisters()
{
  float[] values = _NumericRegistersBatchAssignment.Read();
}

Acknowledge alarms

You can acknowledge alarms by using the ClearAlarms method.

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;

Demonstration

You can take a look at the Winforms Desktop project source which implements all these features. I can be downloaded here.

SNPX

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; }
 
    // Current active alarms
    public AlarmAccess ActiveAlarm { get; }
 
    // Alarm history
    public AlarmAccess AlarmHistory { get; }
 
    // Clear all active alarms
    public void ClearAlarms()
 
    // Clear all assignments
    public void ClearAssignments()
     protected void ConnectInternal(string ip, int port = 60008)
     public bool Connected { get; }
 
    // Current position in world or user frame
    public CurrentPosition CurrentPosition { get; }
 
    // List of all digital signal accessors (SDI, SDO, RDI, RDO, ...)
    public DigitalSignals[] DigitalSignals { get; }
 
    // Disconnect from the robot
    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; }
 
    // Real variables
    public RealSystemVariables RealSystemVariables { 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; }
 
    // Set boolean variable without assignments
    public void SetVariable(string name, bool value)
 
    // Set double variable without assignments
    public void SetVariable(string name, double value)
 
    // Set integer variable without assignments
    public void SetVariable(string name, int value)
 
    // Set string variable without assignments
    public void SetVariable(string name, string value)
 
    // 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, NumericRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public NumericRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     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, PositionRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public PositionRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override Position ReadFromClient(int offset)
     public void Write(int index, CartesianPosition cartesianPosition)
     public void Write(int index, ExtendedCartesianPosition extendedCartesianPosition)
     public void Write(int index, JointsPosition jointsPosition)
     protected override void WriteInClient(int offset, Position value)
}

Position

Members of Common.Position :

public class Position {
     public Position()
     public Position(short userFrame, short userTool, JointsPosition jointsPosition, ExtendedCartesianPosition cartesianPosition)
     public ExtendedCartesianPosition CartesianPosition { get; set; }
     public JointsPosition JointsPosition { get; set; }
     public short UserFrame { get; set; }
     public short UserTool { get; set; }
}

Members of Common.JointsPosition :

public class JointsPosition {
     public JointsPosition()
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg)
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg, double j7Deg, double j8Deg, double j9Deg)
     public JointsPosition(double[] values)
 
    // Check if joints position is near to expected joints position with a tolerance value
    public static bool IsNear(JointsPosition j1, JointsPosition j2, double degreesTolerance)
     public double this[int i] { get; set; }
 
    // Joint 1 in degrees
    public double J1 { get; set; }
 
    // Joint 2 in degrees
    public double J2 { get; set; }
 
    // Joint 3 in degrees
    public double J3 { get; set; }
 
    // Joint 4 in degrees
    public double J4 { get; set; }
 
    // Joint 5 in degrees
    public double J5 { get; set; }
 
    // Joint 6 in degrees
    public double J6 { get; set; }
 
    // Joint 7 in degrees
    public double J7 { get; set; }
 
    // Joint 8 in degrees
    public double J8 { get; set; }
 
    // Joint 9 in degrees
    public double J9 { get; set; }
     public override string ToString()
 
    // Numeric values for each joints
    public double[] Values { get; }
}

Members of Common.ExtendedCartesianPosition :

public class ExtendedCartesianPosition : CartesianPosition {
     public ExtendedCartesianPosition()
     public ExtendedCartesianPosition(double x, double y, double z, double w, double p, double r, double e1, double e2, double e3)
     public double E1 { get; set; }
     public double E2 { get; set; }
     public double E3 { get; set; }
}

Members of Common.CartesianPosition :

public class CartesianPosition : XYZPosition {
 
    // Default constructor
    public CartesianPosition()
 
    // Constructor with position and rotations
    public CartesianPosition(double x, double y, double z, double w, double p, double r)
     public CartesianPosition(double x, double y, double z, double w, double p, double r, Configuration configuration)
     public CartesianPosition(CartesianPosition position)
     public CartesianPosition(XYZPosition position, double w, double p, double r)
 
    // Position configuration
    public Configuration Configuration { get; }
 
    // Create a CartesianPosition with unknow configuration from a homogeneous rotation and translation 4x4 matrix
    public static CartesianPosition FromHomogeneousMatrix(double[,] R)
 
    // Check if two Cartesian positions are near each other within specified tolerances
    public static bool IsNear(CartesianPosition a, CartesianPosition b, double mmTolerance, double degreesTolerance)
 
    // Normalize an angle to the range ]-180, 180]
    public static double NormalizeAngle(double angle)
 
    // Normalize the W, P, R angles to the range ]-180, 180]
    public static void NormalizeAngles(CartesianPosition pose)
 
    // P rotation in degrees (Ry)
    public double P { get; set; }
 
    // R rotation in degrees (Rz)
    public double R { get; set; }
 
    // Convert position to a homogeneous rotation and translation 4x4 matrix
    public double[,] ToHomogeneousMatrix()
     public override string ToString()
 
    // W rotation in degrees (Rx)
    public double W { get; set; }
}

Members of Common.XYZPosition :

public class XYZPosition {
     public XYZPosition()
     public XYZPosition(double x, double y, double z)
     public override string ToString()
 
    // X coordinate in millimeters
    public double X { get; set; }
 
    // Y coordinate in millimeters
    public double Y { get; set; }
 
    // Z coordinate in millimeters
    public double Z { get; set; }
}

Variables

Members of Snpx.Internal.PositionSystemVariables :

public class PositionSystemVariables : SnpxWritableAssignableElements<Position, string, PositionSystemVariablesBatchAssignment> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override Position ReadFromClient(int offset)
     public void Write(string variable, CartesianPosition cartesianPosition)
     public void Write(string variable, ExtendedCartesianPosition extendedCartesianPosition)
     public void Write(string variable, JointsPosition jointsPosition)
     protected override void WriteInClient(int offset, Position value)
}

Members of Snpx.Internal.StringRegisters :

public class StringRegisters : SnpxWritableAssignableElements<string, int, StringRegistersBatchAssignment> {
     protected override int AssignmentSize { get; }
     public StringRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     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, StringSystemVariablesBatchAssignment> {
     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

Inverse and Forward Kinematics

¿Una pregunta?

SNPX

Overview

Differences with official Fanuc Robot Interface

Robot options

Performances

Features

Read current position

World current position

User frame current position

Read/write IOs, registers and Variables

Read in batch

Acknowledge alarms

Check if SNPX is available

Demonstration

API reference

Snpx Client

Inputs and Outputs

Registers

Position

Variables

¿Una pregunta?

SNPX

Overview

Differences with official Fanuc Robot Interface

Robot options

Performances

Features

Read current position

World current position

User frame current position

Read/write IOs, registers and Variables

Read in batch

Acknowledge alarms

Check if SNPX is available

Demonstration

API reference

Snpx Client

Inputs and Outputs

Registers

Position

Variables