Fanuc SDK documentation

Diagnostics & variables

Read safety status, current position, I/O state, installed features, error history, registers, and system variables via FTP.

Safety, position, I/O, and errors
Read variables
Read registers
Installed features (options)
Complete example
API reference

Read safety status, current position, I/O state, error history, installed features, registers, and system variables from the Fanuc controller via FTP.

Safety, position, I/O, and errors

// Safety status
SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

// Current position
CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();

// I/O state
IOState ioState = robot.Ftp.GetIOState();

// Error history
var errors = robot.Ftp.GetAllErrorsList();

Members of Common.Files.Diagnosis.SafetyStatus :

public class SafetyStatus : IFanucContent {
     public SafetyStatus()
 
    // Belt broken signal is active
    public bool BeltBroken { get; }
     public override bool Equals(object obj)
 
    // External emergency stop active
    public bool ExternalEStop { get; }
 
    // Safety fence is open
    public bool FenceOpen { get; }
     public override int GetHashCode()
 
    // Hand broken signal is active
    public bool HandBroken { get; }
 
    // Low air pressure alarm is active
    public bool LowAirAlarm { get; }
 
    // File name : sftysig.dg
    public string Name { get; }
 
    // Non-teacher enable signal is active
    public bool NonTeacherEnb { get; }
 
    // Over travel limit is active
    public bool OverTravel { get; }
 
    // Emergency stop active by SOP signal
    public bool SOPEStop { get; }
 
    // Servo off detection is active
    public bool SVOFFDetect { get; }
 
    // The deadman switch of the teach pendant is active
    public bool TPDeadman { get; }
 
    // Emergency stop active on teach peandant
    public bool TPEStop { get; }
 
    // Teach pendant is enabled
    public bool TPEnable { get; }
     public override string ToString()
}

Members of Common.Files.Diagnosis.CurrentPosition :

public class CurrentPosition : IFanucContent {
     public CurrentPosition()
 
    // Position of each robots handled by this controller
    public GroupPosition[] GroupsPosition { get; }
 
    // File name : curpos.dg
    public string Name { get; }
     public override string ToString()
}

Members of Common.Files.Diagnosis.GroupPosition :

public class GroupPosition {
     public GroupPosition()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Group ID
    public int Id { get; }
 
    // Joint positions : the position of each robot angles
    public JointsPosition JointsPosition { get; }
     public override string ToString()
 
    // Position of each tools in each user frames
    public CartesianPositionWithUserFrame[] UserFramePositions { get; }
 
    // Position of each tools in world coordinates
    public CartesianPositionWithTool[] WorldPositions { get; }
}

Members of Common.Files.Diagnosis.IOState :

public class IOState : IFanucContent {
     public IOState()
 
    // File name : iostate.dg
    public string Name { get; }
 
    // Status of all controller inputs and outputs
    public IOStatus[] States { get; }
     public override string ToString()
}

Members of Common.IOStatus :

public class IOStatus {
     public IOStatus()
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Digital port ID
    public int Id { get; }
 
    // IO Name
    public string Name { get; }
 
    // Digital port type
    public DigitalPorts Port { get; }
 
    // String representation like : DIN[1]=True
    public override string ToString()
 
    // Digital port value
    public bool Value { get; }
}

Members of Common.DigitalPorts :

public enum DigitalPorts {
 
    // Digital input
    DIN = 0
 
    // Digital outputs
    DOUT = 1
 
    // Flags
    FLG = 8
 
    // Robot inputs
    RI = 6
 
    // Robot outputs
    RO = 7
 
    // SI
    SI = 4
 
    // SO
    SO = 5
 
    // User inputs
    UI = 2
 
    // User outputs
    UO = 3
}

Read variables

Variables are read in bulk from .va files stored on the controller.

// Get all variables from all files
var allVariables = robot.Ftp.GetAllVariables();
foreach (var file in allVariables)
    foreach (var variable in file.Variables)
        Console.WriteLine($"{variable.Name} = {variable.Value}");

// Get variables from a specific file
var variables = robot.Ftp.GetVariablesFromFile("SYSVARS.va");

// Access commonly used system variables directly
int rmtMaster = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

Read registers

Registers are read in bulk via FTP variable files.

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common.Files.Variables;

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

    // Set connection parameters (example values)
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Ftp.Enable = true;
    parameters.Ftp.FtpUser = "user";
    parameters.Ftp.FtpPassword = "ftp password";

    // Connect to the robot with FTP enabled
    robot.Connect(parameters);

    // 1) Reading Numeric Registers
    ReadNumericRegisters(robot);

    // 2) Reading Position Registers
    ReadPositionRegisters(robot);

    // 3) Reading String Registers
    ReadStringRegisters(robot);
  }

  private static void ReadNumericRegisters(FanucRobot robot)
  {
    NumregFile numregFile = robot.Ftp.KnownVariableFiles.GetNumregFile();

    for (int i = 0; i < numregFile.Numreg.Length; i++)
    {
      double value = numregFile.Numreg[i];
      Console.WriteLine($"📊 Numeric R[{i}] = {value}");
    }
  }

  private static void ReadPositionRegisters(FanucRobot robot)
  {
    PosregFile posregFile = robot.Ftp.KnownVariableFiles.GetPosregFile();

    // posregFile.Posreg is a 3D array: dimension [1] = group, [2] = register index
    for (int group = 0; group < posregFile.Posreg.GetLength(1); group++)
    {
      Console.WriteLine($"\n🤖 Reading position registers for Group {group}:");

      for (int i = 0; i < posregFile.Posreg.GetLength(2); i++)
      {
        PositionRegister value = posregFile.Posreg[group, i];
        Console.WriteLine($" - PR[{i}] :");
        Console.WriteLine($"    X = {value.CartesianPosition.X}");
        Console.WriteLine($"    Y = {value.CartesianPosition.Y}");
        Console.WriteLine($"    Z = {value.CartesianPosition.Z}");
        Console.WriteLine($"    W = {value.CartesianPosition.W}");
        Console.WriteLine($"    P = {value.CartesianPosition.P}");
        Console.WriteLine($"    R = {value.CartesianPosition.R}");
        Console.WriteLine("    Configuration :");
        Console.WriteLine($"       ArmFrontBack = {value.CartesianPosition.Configuration.ArmFrontBack}");
        Console.WriteLine($"       ArmLeftRight = {value.CartesianPosition.Configuration.ArmLeftRight}");
        Console.WriteLine($"       ArmUpDown = {value.CartesianPosition.Configuration.ArmUpDown}");
        Console.WriteLine($"       WristFlip = {value.CartesianPosition.Configuration.WristFlip}");
      }
    }
  }

  private static void ReadStringRegisters(FanucRobot robot)
  {
    StrregFile strregFile = robot.Ftp.KnownVariableFiles.GetStrregFile();

    for (int i = 0; i < strregFile.Strreg.Length; i++)
    {
      string value = strregFile.Strreg[i];
      Console.WriteLine($"💬 String SR[{i}] = '{value}'");
    }
  }
}

Installed features (options)

Detect available options on the controller to check protocol availability.

Features features = robot.Ftp.GetSummaryDiagnostic().Features;

// Check specific capabilities
bool hasSnpx = features.HasSnpx;
bool hasTelnet = features.HasTelnet;

// List all installed features
foreach (var feature in features.FeaturesList)
    Console.WriteLine($"{feature.Name} ({feature.OrderNo})");

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common.Files.Diagnosis;

public class FtpDiagnostics
{
  static void Main()
  {
    FanucRobot robot = new FanucRobot();
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Ftp.Enable = true;
    robot.Connect(parameters);

    /**/
    // Read safety status
    SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
    Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
    Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

    // Read current position (joints, world, user frames)
    CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();

    // Read I/O state
    IOState ioState = robot.Ftp.GetIOState();

    // Read all errors
    var errors = robot.Ftp.GetAllErrorsList();

    // Read all variables from all files
    var allVariables = robot.Ftp.GetAllVariables();
    foreach (var file in allVariables)
      foreach (var variable in file.Variables)
        Console.WriteLine($"{variable.Name} = {variable.Value}");

    // Access well-known system variables
    int rmtMaster = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

    // Get installed features
    Features features = robot.Ftp.GetSummaryDiagnostic().Features;
    bool hasSnpx = features.HasSnpx;
    /**/
  }
}

API reference

Members of Common.Files.Diagnosis.SummaryDiagnosis :

public class SummaryDiagnosis : IFanucContent {
     public SummaryDiagnosis()
 
    // Current position of each robots and groups handled by this controller
    public CurrentPosition CurrentPosition { get; }
 
    // Controller features status
    public Features Features { get; }
 
    // Controller IO status
    public IOState IOs { get; }
 
    // File name : summary.dg
    public string Name { get; }
 
    // Controller program states
    public ProgramStates ProgramStates { get; }
 
    // Controller safety information
    public SafetyStatus Safety { get; }
     public override string ToString()
}

Members of Common.Files.Diagnosis.Features :

public class Features {
     public Features()
     public override bool Equals(object obj)
 
    // List of features
    public Feature[] FeaturesList { get; }
     public override int GetHashCode()
 
    // Indicates if the robot has the ASCII upload feature enabled : R507 ("ASCII Upload" on older controllers) or R796 ("ASCII Program Loader" on most recent controllers).
    public bool HasAsciiUpload { get; }
 
    // Indicates if the robot has the SNPX feature enabled (R553 or R651).
    public bool HasSnpx { get; }
 
    // Indicates if the robot has the TELNET feature enabled (TELN).
    public bool HasTelnet { get; }
     public override string ToString()
}

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