Fanuc SDKFanuc ロボットを 自社のソフトウェアから制御

robot.Connect(parameters);
// Read a variable
CgtpVariableValue var = robot.Cgtp.ReadVariable("$RMT_MASTER");
int rmtMaster = var.IntegerValue;

// Write a variable
robot.Cgtp.WriteVariable("$RMT_MASTER", 1);

// Read a numeric register with comment
NumericRegisterWithComment reg = robot.Cgtp.ReadNumericRegisterWithComment(1);

// Read I/O
int di1 = robot.Cgtp.ReadIo(CgtpIoPortType.DI, 1);

// Write I/O
robot.Cgtp.WriteIo(CgtpIoPortType.DO, 1, 1);

// Read current Cartesian position
CartesianPosition pos = robot.Cgtp.ReadCartesianPosition();

// Run a program
robot.Cgtp.RunProgram("MY_PROGRAM");
}
}

// Connect to the robot
robot.Connect(parameters);
// Read a register
Position posReg1 = robot.Snpx.PositionRegisters.Read(1);
float numReg5 = robot.Snpx.NumericRegisters.Read(5);
string strReg10 = robot.Snpx.StringRegisters.Read(10);

// Write a register
posReg1.CartesianPosition.X = 100;
robot.Snpx.PositionRegisters.Write(1, posReg1);
robot.Snpx.NumericRegisters.Write(2, 123.45f);
robot.Snpx.StringRegisters.Write(3, "Hello, world!");

// Read a variable
int rmtMaster = robot.Snpx.IntegerSystemVariables.Read("$RMT_MASTER");
string lastAlm = robot.Snpx.StringSystemVariables.Read("$ALM_IF.$LAST_ALM");
Position cellFloor = robot.Snpx.PositionSystemVariables.Read("$CELL_FLOOR");

// Write a system variable
robot.Snpx.IntegerSystemVariables.Write("$RMT_MASTER", 1);
robot.Snpx.StringSystemVariables.Write("$ALM_IF.$LAST_ALM", "No alarms");
robot.Snpx.PositionSystemVariables.Write("$CELL_FLOOR", cellFloor);

// Write a Karel program variable
robot.Snpx.IntegerSystemVariables.Write("$[KarelProgram]KarelVariable", 1);

// Read and Write I/O (SDI,SDO,RDI,RDO,UI,UO,SI,SO,WI,WO,WSI,PMC_K,PMC_R)
robot.Snpx.RDO.Write(1, true);
ushort ai5 = robot.Snpx.AI.Read(5);

// Read and Write analogs (AI,AO,GI,GO,PMC_D)
robot.Snpx.AO.Write(2, 5);
ushort ao3 = robot.Snpx.AO.Read(3);

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

// Connect to the robot
robot.Connect(parameters);
IOState ioState = robot.Ftp.GetIOState();

// Read a variable
var variableFiles = robot.Ftp.GetAllVariables();
foreach (var variableFile in variableFiles)
  foreach (var variable in variableFile.Variables)
    Console.WriteLine($"{variable.Name} = {variable.Value}");

// Read system variable $RMT_MASTER
int remoteMode = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

// Read safety status
SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

// Get current position for each arm (Joints, World position of each tool, user frame positions)
CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();

// Upload a TP program to the controller
robot.Ftp.DirectFileHandling.UploadFileToController(@"C:\Programs\MyPrg.tp", "md:/MyPrg.tp");

// Download a file from the robot
robot.Ftp.DirectFileHandling.DownloadFileFromController("md:/Backup.va", @"C:\Backup\Backup.va");

// Delete a file on the robot
robot.Ftp.DirectFileHandling.DeleteFile("md:/OldProgram.tp");
}

FanucRobot robot = new FanucRobot();
robot.Connect("192.168.0.1");
// Get DH parameters
// Example: CRX-10iA/L
DhParameters dh = new DhParameters(-540, 150, -160, 0, 710, 0);

// From a known arm model
dh = DhParameters.FromArmKinematicModel(ArmKinematicModels.CRX10iA);

// From OPW parameters: M10iA/7L
dh = DhParameters.FromOpwParameters(0.15, -0.20, 0.60, 0.86, 0.10);

// From an online robot (SYSMOTN file)
dh = DhParameters.FromSymotnFile(robot.Ftp.KnownVariableFiles.GetSymotnFile())[0];

// Forward kinematics
CartesianPosition pose = KinematicsUtils.ForwardKinematics(position, dh);

// Inverse kinematics with multiple solutions
JointsPosition[] positions = KinematicsUtils.InverseKinematics(pose, dh);
}
}

parameters.Rmi.Enable = true;
robot.Connect(parameters);
// Initialize the RMI_MOVE program on the controller.
// TP must be disabled and the controller must be in AUTO mode.
robot.Rmi.Initialize();

// Linear motion at 100 mm/s to a Cartesian target (tool 1, frame 0)
var instr = new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 100,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, tool: 1, frame: 0)
};
RmiInstructionResponse r = robot.Rmi.SendTpInstruction(instr);

// Wait for the controller to confirm the motion completed
r.WaitForCompletion();

if (r.Status == RmiInstructionStatus.Error)
    System.Console.WriteLine("Error: " + r.ErrorText);

// Abort when done - always end the session with Abort() or Disconnect()
robot.Rmi.Abort();

robot.Disconnect();
}
}

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);
}