System variables

Read and write integer, real, position, and string system variables on the Fanuc controller via SNPX.

Complete example
API reference

SNPX lets you read and write system variables by name, including integer, real (float), position, and string types. You can also access Karel program variables using the $[ProgramName]VariableName syntax.

// Integer variables
int rmtMaster = robot.Snpx.IntegerSystemVariables.Read("$RMT_MASTER");
robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);

// Real (float) variables
float overr = robot.Snpx.RealSystemVariables.Read("$MCR.$GENOVERRIDE");
robot.Snpx.RealSystemVariables.Write("$MCR.$GENOVERRIDE", 50.0f);

// Position variables
Position cellFloor = robot.Snpx.PositionSystemVariables.Read("$CELL_FLOOR");
robot.Snpx.PositionSystemVariables.Write("$CELL_FLOOR", cellFloor);

// String variables
string lastAlm = robot.Snpx.StringSystemVariables.Read("$ALM_IF.$LAST_ALM");

// Karel program variables
int karelVar = robot.Snpx.IntegerSystemVariables.Read("$[MyKarelProg]my_variable");
robot.Snpx.IntegerSystemVariables.Write("$[MyKarelProg]my_variable", 42);

// Set variable by name (auto-typed)
robot.Snpx.SetVariable("$RMT_MASTER", 1);

Complete example

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

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

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

    robot.Connect(parameters);

    /**/
    // --- Integer system variables ---
    int rmtMaster = robot.Snpx.IntegerSystemVariables.Read("$RMT_MASTER");
    robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);

    // --- Real (float) system variables ---
    float genOverride = robot.Snpx.RealSystemVariables.Read("$MCR.$GENOVERRIDE");
    robot.Snpx.RealSystemVariables.Write("$MCR.$GENOVERRIDE", 50.0f);

    // --- Position system variables ---
    Position cellFloor = robot.Snpx.PositionSystemVariables.Read("$CELL_FLOOR");
    robot.Snpx.PositionSystemVariables.Write("$CELL_FLOOR", cellFloor);

    // --- String system variables ---
    string lastAlm = robot.Snpx.StringSystemVariables.Read("$ALM_IF.$LAST_ALM");
    robot.Snpx.StringSystemVariables.Write("$ALM_IF.$LAST_ALM", "No alarms");

    // --- Karel program variables ---
    int karelVar = robot.Snpx.IntegerSystemVariables.Read("$[MyKarelProg]my_variable");
    robot.Snpx.IntegerSystemVariables.Write("$[MyKarelProg]my_variable", 42);

    // --- Set variable (auto-detects type) ---
    robot.Snpx.SetVariable("$RMT_MASTER", 1);
    /**/
  }
}

API reference

Members of Snpx.Internal.PositionSystemVariables :

public class PositionSystemVariables : SnpxWritableAssignableElements<Position, string, PositionSystemVariablesBatchAssignment> {
     protected override string GetAssignmentName(string index)
     protected override int GetAssignmentSize(string index)
     protected override string GetAssignmentTarget(string index)
 
    // Reads the position at the specified system variable.
    public Position Read(string index)
 
    // Reads a value from the client at the specified memory offset.
    protected override Position ReadFromClient(int offset, string index)
 
    // Writes a Cartesian position to the specified system variable.
    public void Write(string variable, CartesianPosition cartesianPosition)
 
    // Writes an extended Cartesian position to the specified system variable.
    public void Write(string variable, ExtendedCartesianPosition extendedCartesianPosition)
 
    // Writes a joints position to the specified system variable.
    public void Write(string variable, JointsPosition jointsPosition)
 
    // Writes a value to the robot at the specified offset.
    protected override void WriteInClient(int offset, string index, Position value)
}

Members of Snpx.Internal.StringSystemVariables :

public class StringSystemVariables : SnpxWritableAssignableElements<string, string, StringSystemVariablesBatchAssignment> {
     protected override string GetAssignmentName(string index)
     protected override int GetAssignmentSize(string index)
     protected override string GetAssignmentTarget(string index)
 
    // Reads a value from the client at the specified memory offset.
    protected override string ReadFromClient(int offset, string index)
 
    // Writes a value to the robot at the specified offset.
    protected override void WriteInClient(int offset, string index, string value)
}

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System variables

Complete example

API reference