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Alarms & task status

Read active alarms, alarm history, clear alarms, monitor running tasks, and read/write comments via SNPX.

Alarms
Task status and comments
Complete example
API reference

SNPX lets you read active alarms, browse alarm history, clear alarms, monitor running tasks, and read/write register and I/O comments.

Alarms

parameters.Snpx.Enable = true;
robot.Connect(parameters);
// Active alarm
RobotAlarm activeAlarm = robot.Snpx.ActiveAlarm.Read(1);
Console.WriteLine($"Alarm: {activeAlarm.Message}");
Console.WriteLine($"Severity: {activeAlarm.Severity}");
Console.WriteLine($"Time: {activeAlarm.Time}");

// Alarm history
RobotAlarm histAlarm = robot.Snpx.AlarmHistory.Read(10);

// Clear alarms
robot.Snpx.ClearAlarms();
}
}

Click to see the full code

Task status and comments

Monitor running program tasks by index (1-based). Comments are short descriptions associated with registers or I/O ports.

Available comment types: Register, PositionRegister, StringRegister, DI, DO, RI, RO, UI, UO, SI, SO, WI, WO, WSI, WSO, GI, GO, AI, AO, Flag.

parameters.Snpx.Enable = true;
robot.Connect(parameters);
// Task status
RobotTaskStatus task = robot.Snpx.CurrentTaskStatus.Read(1);
Console.WriteLine($"Program: {task.ProgramName}");
Console.WriteLine($"Line: {task.LineNumber}");
Console.WriteLine($"State: {task.State}");       // Stopped, Paused, Running
Console.WriteLine($"Caller: {task.Caller}");

// Read and write comments
string comment = robot.Snpx.Comments.Read(CommentType.Register, 5);
string longComment = robot.Snpx.Comments.Read(CommentType.Register, 5, 24);
robot.Snpx.Comments.Write(CommentType.PositionRegister, 1, "Home Position", 16);
}
}

Click to see the full code

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Snpx.Internal;
using UnderAutomation.Fanuc.Snpx;

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

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

    robot.Connect(parameters);

    
    // --- Active alarm ---
    RobotAlarm activeAlarm = robot.Snpx.ActiveAlarm.Read(1);
    Console.WriteLine($"Alarm: {activeAlarm.Message}");
    Console.WriteLine($"Severity: {activeAlarm.Severity}");
    Console.WriteLine($"Time: {activeAlarm.Time}");

    // --- Alarm history ---
    RobotAlarm histAlarm = robot.Snpx.AlarmHistory.Read(10);
    Console.WriteLine($"History #{10}: {histAlarm.Message}");

    // --- Clear alarms ---
    robot.Snpx.ClearAlarms();

    // --- Task status ---
    RobotTaskStatus task = robot.Snpx.CurrentTaskStatus.Read(1);
    Console.WriteLine($"Program: {task.ProgramName}");
    Console.WriteLine($"Line: {task.LineNumber}");
    Console.WriteLine($"State: {task.State}");
    Console.WriteLine($"Caller: {task.Caller}");

    // --- Read and write comments ---
    string comment = robot.Snpx.Comments.Read(CommentType.Register, 5);
    robot.Snpx.Comments.Write(CommentType.PositionRegister, 1, "Home Position", 16);
    
  }
}

API reference

Class

RobotAlarm

C#Python

Represents a robot alarm with its category, severity, time, and message.

Member	Type	Description
RobotAlarm() Constructor
CauseId Property	AlarmId	Cause Category
CauseMessage Property	string	Cause message
CauseNumber Property	short	Cause Number
Id Property	AlarmId	Alarm Category
Message Property	string	Error Message
Number Property	short	Alarm Number
Severity Property	AlarmSeverity	Alarm Severity
SeverityMessage Property	string	Severity message
Time Property	DateTime	Occurrence Time
Equals(object) Method	bool
Equals(RobotAlarm) Method	bool	Determines whether the specified `RobotAlarm` is equal to this instance. other : The alarm to compare with.
FromBytes(byte[], Languages, int) Method static	RobotAlarm	Creates a `RobotAlarm` from a byte array. bytes : The byte array containing alarm data. language : The controller language for string decoding. start : The starting offset in the byte array.
GetHashCode() Method	int
ToString() Method	string

Enum

AlarmSeverity

C#Python

Represents the severity level of a robot alarm.

Name	Value	Description
ABORT_G	45	Global abort level alarm.
ABORT_L	11	Local abort level alarm.
NONE	128	No severity.
PAUSE_G	34	Global pause level alarm.
PAUSE_L	2	Local pause level alarm.
SERVO	54	Servo error alarm.
SERVO2	58	Servo error level 2 alarm.
STOP_G	38	Global stop level alarm.
STOP_L	6	Local stop level alarm.
SYSTEM	122	System level alarm.
WARN	0	Warning level alarm.

Class

RobotTaskStatus

C#Python

Represents the status of a running task on the robot controller.

Member	Type	Description
RobotTaskStatus() Constructor
Caller Property	string	Gets or sets the name of the calling program.
LineNumber Property	short	Gets or sets the current line number in the program.
ProgramName Property	string	Gets or sets the name of the program being executed.
State Property	RobotTaskState	Gets or sets the current execution state of the task.
Equals(object) Method	bool
Equals(RobotTaskStatus) Method	bool	Determines whether the specified `RobotTaskStatus` is equal to this instance. other : The task status to compare with.
FromBytes(byte[], Languages, int) Method static	RobotTaskStatus	Creates a `RobotTaskStatus` from a byte array. bytes : The byte array containing task status data. language : The controller language for string decoding. start : The starting offset in the byte array.
GetHashCode() Method	int
ToString() Method	string

Enum

RobotTaskState

C#Python

Represents the execution state of a robot task.

Name	Value	Description
Paused	1	Task is paused.
Running	2	Task is running.
Stopped	0	Task is stopped.

Enum

CommentType

C#Python

Identifies the type of data for which a comment can be read or written.

Name	Value	Description
AI	17	Analog Input.
AO	18	Analog Output.
DI	3	Digital Input.
DO	4	Digital Output.
Flag	19	Flag
GI	15	Group Input.
GO	16	Group Output.
PositionRegister	1	Position register PR[].
RI	5	Remote Input.
RO	6	Remote Output.
Register	0	Numeric register R[].
SI	9	System Input.
SO	10	System Output.
StringRegister	2	String register SR[].
UI	7	User Input.
UO	8	User Output.
WI	11	Weld Input.
WO	12	Weld Output.
WSI	13	Wire Stick Input.
WSO	14	Wire Stick Output.

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Alarms & task status

Alarms

Task status and comments

Complete example

API reference