Legal notice and acknowledgements

Legal notice and acknowledgements for the UnderAutomation Fanuc SDK.

Publisher

The UnderAutomation Fanuc SDK is developed, published and distributed by UnderAutomation. Copyright (c) UnderAutomation. All rights not expressly granted are reserved.

The publisher and the host of this website are given on the legal information page.

Trademarks

FANUC, ROBOGUIDE, KAREL and CRX are trademarks or registered trademarks of FANUC Corporation or its affiliates. Other product names, company names and brands in this documentation belong to their owners. They are used only to say which equipment the SDK communicates with.

UnderAutomation is an independent software publisher. It is not affiliated with, endorsed by or sponsored by FANUC Corporation or its affiliates. This SDK is not a FANUC product. FANUC does not certify, review or support it. UnderAutomation provides the support of the SDK.

Protocols and interoperability

The SDK communicates with Fanuc robot controllers through their network interfaces: SNPX, the web server of the controller, the Remote Motion Interface, Stream Motion, FTP and Telnet. Each protocol is enabled on its own (see Connect to the robot).

The SDK contains no Fanuc source code and no Fanuc binary. Some features need a software option on the controller, for example Stream Motion or the Remote Motion Interface. Your controller must have the options that the features you use need.

Responsible use

The SDK can change the state of an industrial robot: it can run and abort programs, write I/O, registers and variables, and move the arm. A robot is dangerous machinery.

The safety of people and machines is the responsibility of the integrator. The SDK does not replace a safety system. You are responsible for the risk assessment of your application and for its compliance with the machinery regulations that apply to you. Test your application with ROBOGUIDE before you run it on a real robot.

Third-party components

The SDK contains code from the projects below. UnderAutomation modified this code (namespaces renamed, code reduced and adapted) and the DLL is obfuscated. These components stay under their own licenses. The copyright notices and the full license texts are in the file THIRD-PARTY-NOTICES.txt, delivered with the DLL, the NuGet package, the Python package and the source code package.

These packages are installed by NuGet or pip from their publishers. UnderAutomation does not redistribute them:

References

The inverse kinematics solvers of the SDK are analytical implementations of the models described in these publications:

• Standard 6-axis robots with an ortho-parallel basis and a spherical wrist: Brandstötter, M., Angerer, A. and Hofbaur, M. "An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist". Austrian Institute of Technology and UMIT. ResearchGate.
• CRX collaborative robots: Abbes, M. and Poisson, G. "Geometric Approach for Inverse Kinematics of the FANUC CRX Collaborative Robot". PRISME Laboratory, University of Orléans. ResearchGate.

We thank GitHub user Palatis, whose public work on the GE SRTP protocol was a technical reference for the SNPX implementation:

• Fanuc.RobotInterface, used as a reference for the SRTP protocol and its error handling.
• Wireshark GE SRTP dissector, used for validation and debugging.

License of the SDK

The use of the SDK is governed by its end user license agreement.