Get current position

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

public class SnpxPositionWorld
{
  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);
    /**/
  }

}

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

public class SnpxPositionUserFrame
{
  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 Cartesian position
CartesianPosition cartesian = robot.Cgtp.ReadCartesianPosition();
Console.WriteLine($"X={cartesian.X}, Y={cartesian.Y}, Z={cartesian.Z}");

// Read joint position
JointsPosition joints = robot.Cgtp.ReadJointPosition();
Console.WriteLine($"J1={joints.J1}, J2={joints.J2}, J3={joints.J3}");

// Multi-group
CartesianPosition group2 = robot.Cgtp.ReadCartesianPosition(groupNum: 2);

CurrentPosition curPos = robot.Ftp.GetSummaryDiagnostic().CurrentPosition;

var curpos = robot.Telnet.GetCurrentPose();