Fanuc SDK documentation

Batch reading

Read groups of registers, variables, or signals in a single command for maximum performance using SNPX batch assignments.

How it works
Batch reading
Performance comparison
Complete example
API reference

Batch assignments let you read a group of registers, variables, or signals in a single SNPX command instead of individual requests. This dramatically improves throughput for high-frequency data exchange.

How it works

Create a batch assignment specifying the data range or variable names
Read the entire batch in a single call
Repeat the read call as often as needed : the assignment is reusable

The amount of data in a single command has no significant impact on execution time. Reading 80 position registers in batch takes the same ~2 ms as reading a single register.

Batch reading

// Numeric registers batch: read R[1] through R[100]
var numBatch = robot.Snpx.NumericRegisters.CreateBatchAssignment(1, 100);
float[] values = numBatch.Read();

// Position registers batch: read PR[1] through PR[50]
var posBatch = robot.Snpx.PositionRegisters.CreateBatchAssignment(1, 50);
Position[] positions = posBatch.Read();

// String registers batch
var strBatch = robot.Snpx.StringRegisters.CreateBatchAssignment(1, 20);
string[] strings = strBatch.Read();

// Flag registers batch
var flagBatch = robot.Snpx.Flags.CreateBatchAssignment(1, 100);
bool[] flags = flagBatch.Read();

// System variables batch
var intBatch = robot.Snpx.IntegerSystemVariables.CreateBatchAssignment(
    new[] { "$RMT_MASTER", "$MCR.$GENOVERRIDE", "$SCR.$NUM_GROUP" });
int[] intValues = intBatch.Read();

Performance comparison

Method	80 position registers	Time
Individual reads	80 × `PositionRegisters.Read()`	~160 ms
Batch read	1 × `BatchAssignment.Read()`	~2 ms

Batch reading is 80x faster for this example.

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common;
using UnderAutomation.Fanuc.Snpx.Assignment;

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

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

    robot.Connect(parameters);

    /**/
    // --- Numeric registers batch ---
    var numBatch = robot.Snpx.NumericRegisters.CreateBatchAssignment(1, 100);
    float[] numValues = numBatch.Read();

    // --- Position registers batch ---
    var posBatch = robot.Snpx.PositionRegisters.CreateBatchAssignment(1, 50);
    Position[] positions = posBatch.Read();

    // --- String registers batch ---
    var strBatch = robot.Snpx.StringRegisters.CreateBatchAssignment(1, 20);
    string[] strings = strBatch.Read();

    // --- Flag registers batch ---
    var flagBatch = robot.Snpx.Flags.CreateBatchAssignment(1, 100);
    bool[] flags = flagBatch.Read();

    // --- Integer system variables batch ---
    var intBatch = robot.Snpx.IntegerSystemVariables.CreateBatchAssignment(
        new[] { "$RMT_MASTER", "$MCR.$GENOVERRIDE", "$SCR.$NUM_GROUP" });
    int[] intValues = intBatch.Read();

    // --- Digital signals batch ---
    bool[] sdiValues = robot.Snpx.SDI.Read(1, 200);

    // --- Numeric I/O batch ---
    ushort[] giValues = robot.Snpx.GI.Read(1, 50);

    // --- Re-read the same batch (reusable) ---
    float[] numValues2 = numBatch.Read();
    /**/
  }
}

API reference

Members of Snpx.Assignment.NumericRegistersBatchAssignment :

public class NumericRegistersBatchAssignment : BatchAssignment<float, int> {
 
    // Initializes a new instance of the <xref href="UnderAutomation.Fanuc.Snpx.Assignment.NumericRegistersBatchAssignment" data-throw-if-not-resolved="false"></xref> class.
    public NumericRegistersBatchAssignment()
 
    // Read all numeric registers assigned in this batch assignment.
    public override float[] Read()
}

Members of Snpx.Assignment.PositionRegistersBatchAssignment :

public class PositionRegistersBatchAssignment : BatchAssignment<Position, int> {
 
    // Initializes a new instance of the <xref href="UnderAutomation.Fanuc.Snpx.Assignment.PositionRegistersBatchAssignment" data-throw-if-not-resolved="false"></xref> class.
    public PositionRegistersBatchAssignment()
 
    // Reads all position registers assigned in this batch.
    public override Position[] Read()
}

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Batch reading

How it works

Batch reading

Performance comparison

Complete example

API reference