Control inputs & outputs

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

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

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

    robot.Connect(parameters);

    /**/
    // --- Digital signals (boolean) ---

    // Read a single digital input
    bool sdi10 = robot.Snpx.SDI.Read(10);

    // Write a single digital output
    robot.Snpx.RDO.Write(1, true);

    // Read a range of digital inputs (100 signals starting at index 1)
    bool[] sdiRange = robot.Snpx.SDI.Read(1, 100);

    // Write a range of digital outputs
    robot.Snpx.SDO.Write(1, new[] { true, false, true });

    // Other digital signal types: UI, UO, SI, SO, WI, WO, WSI, PMC_K, PMC_R
    bool ui5 = robot.Snpx.UI.Read(5);
    robot.Snpx.SO.Write(3, false);


    // --- Numeric I/O (ushort) ---

    // Read Group Input
    ushort gi1 = robot.Snpx.GI.Read(1);

    // Write Group Output
    robot.Snpx.GO.Write(1, 500);

    // Read Analog Input
    ushort ai1 = robot.Snpx.AI.Read(1);

    // Write Analog Output
    robot.Snpx.AO.Write(2, 32767);

    // Read a range of numeric I/O
    ushort[] giRange = robot.Snpx.GI.Read(1, 100);

    // Other numeric I/O types: PMC_D
    ushort pmcD = robot.Snpx.PMC_D.Read(1);
    /**/
  }
}

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Cgtp;

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

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

    robot.Connect(parameters);

    /**/
    // Read digital input
    int di1 = robot.Cgtp.ReadIo(CgtpIoPortType.DI, 1);

    // Write digital output
    robot.Cgtp.WriteIo(CgtpIoPortType.DO, 1, 1);

    // Read analog input
    int ai1 = robot.Cgtp.ReadIo(CgtpIoPortType.AI, 1);

    // Write analog output
    robot.Cgtp.WriteIo(CgtpIoPortType.AO, 1, 500);

    // Read group input
    int gi1 = robot.Cgtp.ReadIo(CgtpIoPortType.GI, 1);

    // Write group output
    robot.Cgtp.WriteIo(CgtpIoPortType.GO, 1, 255);

    // Read/write robot I/O
    int ri1 = robot.Cgtp.ReadIo(CgtpIoPortType.RI, 1);
    robot.Cgtp.WriteIo(CgtpIoPortType.RO, 1, 1);

    // Read/write flag
    int flag = robot.Cgtp.ReadIo(CgtpIoPortType.Flag, 10);
    robot.Cgtp.WriteIo(CgtpIoPortType.Flag, 10, 1);

    // Simulate an I/O
    robot.Cgtp.SimulateIo(CgtpIoPortType.DI, 5);

    // Check simulation status
    bool isSimulated = robot.Cgtp.GetIoSimulationStatus(CgtpIoPortType.DI, 5);

    // Unsimulate
    robot.Cgtp.UnsimulateIo(CgtpIoPortType.DI, 5);
    /**/
  }
}

// Set a port value
robot.Telnet.SetPort(KCLPorts.DOUT, 1, 1);

// Simulate a port
robot.Telnet.Simulate(KCLPorts.DIN, 5, 1);

// Unsimulate a port
robot.Telnet.Unsimulate(KCLPorts.DIN, 5);