Fanuc SDK documentation

Offline file parsing

Parse and decode Fanuc variable files (.va), error lists (.ls), I/O state, safety status, and current position files without a robot connection.

Variable files (.va)
Error log (errall.ls)
Workflow: FTP download + offline parse
Complete example
API reference

The SDK includes offline file parsers for reading and editing Fanuc controller files without a network connection. Download files from the robot via FTP, then parse them locally.

Variable files (.va)

Parse any variable file (.va) into a hierarchical list of typed variables:

// Parse a variable file
GenericVariableFile vaFile = FanucFileReaders.VariableReader.ReadFile("C:/backup/numreg.va", Languages.English);

// Browse variables
foreach (var variable in vaFile.Variables)
{
    Console.WriteLine($"{variable.Name} = {variable.Value} [{variable.Type}]");
}

// Re-generate the .va file
vaFile.GenerateVa("C:/backup/numreg_modified.va");

This works with all .va files: numreg.va, posreg.va, strreg.va, sysvars.va, sysmotn.va, etc.

Error log (errall.ls)

// Error log
var errors = FanucFileReaders.ErrorListReader.ReadFile("C:/backup/errall.ls", Languages.English);
foreach (var error in errors.Items)
{
    Console.WriteLine($"{error.OccurringTime} [{error.ErrorCode}] {error.Message}");
}

// I/O state
var ioState = FanucFileReaders.IOStateReader.ReadFile("C:/backup/iostate.dg", Languages.English);

// Safety status
var safety = FanucFileReaders.SafetyStatusReader.ReadFile("C:/backup/safety.dg", Languages.English);

// Current position
var currentPos = FanucFileReaders.CurrentPositionReader.ReadFile("C:/backup/curpos.dg", Languages.English);

Workflow: FTP download + offline parse

A common pattern is to download files via FTP and parse them locally:

// Download a file from the robot
robot.Ftp.DirectFileHandling.DownloadFileFromController("numreg.va", "md:/numreg.va");

// Parse offline
var vaFile = FanucFileReaders.VariableReader.ReadFile("numreg.va", Languages.English);

// Or use the built-in helpers
var numRegs = robot.Ftp.KnownVariableFiles.GetNumregFile();
var posRegs = robot.Ftp.KnownVariableFiles.GetPosregFile();

Complete example

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

public class OfflineFileParsing
{
  static void Main()
  {
    /**/
    // Parse a variable file and extract a hierarchical list of variables
    GenericVariableFile vaFile = FanucFileReaders.VariableReader.ReadFile("C:/path/to/variable.va", Languages.English);
    foreach (var variable in vaFile.Variables)
      Console.WriteLine($"{variable.Name} = {variable.Value} [{variable.Type}]");

    // Edit and regenerate the variable file
    vaFile.GenerateVa("C:/path/to/variable_modified.va\"");

    // Parse several types of files 
    FanucFileReaders.ErrorListReader.ReadFile("C:/path/to/errall.ls", Languages.English);
    FanucFileReaders.IOStateReader.ReadFile("C:/path/to/iostate.dg", Languages.English);
    FanucFileReaders.SafetyStatusReader.ReadFile("C:/path/to/safety.dg", Languages.English);
    FanucFileReaders.CurrentPositionReader.ReadFile("C:/path/to/curpos.dg", Languages.English);
    /**/
  }

}

API reference

Members of Common.Files.Variables.GenericVariableFile :

public class GenericVariableFile : IGenericVariableType, IFanucContent {
     public GenericVariableFile()
     public override bool Equals(object obj)
 
    // Generates a .va file and writes it to the specified stream
    public void GenerateVa(Stream stream)
 
    // Generates a .va file and writes it to the specified path
    public void GenerateVa(string pathToVa)
 
    // Generates the content of a .va variable file as a string.
    public string GeneratedVa()
 
    // Gets a variable by name (case-insensitive)
    public GenericVariable GetField(string name)
     public override int GetHashCode()
 
    // File name
    public string Name { get; }
 
    // Parent container
    public IGenericVariableType Parent { get; set; }
     public override string ToString()
 
    // Variables declared in this file
    public GenericVariable[] Variables { get; }
}

Members of Common.Files.FanucFileReaders :

public static class FanucFileReaders {
 
    // Decode current position file curpos.dg
    public static readonly DiagnosisReader<CurrentPosition, CurrentPositionReader> CurrentPositionReader
 
    // Helper to read error files like errall.ls
    public static readonly ErrorListReader ErrorListReader
 
    // Decode IO Status file iostate.dg
    public static readonly DiagnosisReader<IOState, IOStateParser> IOStateReader
 
    // Decode task and program states prgstate.dg
    public static readonly DiagnosisReader<ProgramStates, ProgramStatesParser> ProgramStates
 
    // Read any file by path on disc, recognize it by name and decode it
    public static IFanucContent ReadFile(Stream fileStream, string fileName, Languages language)
 
    // Read any file by path on disc, recognize it by name and decode it
    public static IFanucContent ReadFile(string fileName, Languages language)
 
    // Get the collection of all parsers
    public static IFileReader<IFanucContent>[] Readers { get; }
 
    // Decode IO Status file iostate.dg
    public static readonly DiagnosisReader<SafetyStatus, SafetyStatusParser> SafetyStatusReader
 
    // Helper to read summary diagnosis file summary.dg
    public static readonly SummaryDiagnosisReader SummaryDiagnosticReader
 
    // Helper to read variable files *.va
    public static readonly VariableReader VariableReader
}

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