Alarms, comments & files

Manage user alarms, read/write register and I/O comments, list and download files from the controller via CGTP.

Register & I/O comments
User alarms
File listing
Complete example
API reference

CGTP provides access to register and I/O comments, user alarms, and file listing/download from the controller.

Register & I/O comments

Read and write descriptive comments for registers:

// Read register comments
string[] regComments = robot.Cgtp.GetComments(CgtpCommentType.NumericRegister);
string[] posComments = robot.Cgtp.GetComments(CgtpCommentType.PositionRegister);
string[] strComments = robot.Cgtp.GetComments(CgtpCommentType.StringRegister);

// Write a register comment
robot.Cgtp.SetComment(CgtpCommentType.NumericRegister, 1, "Speed setpoint");
robot.Cgtp.SetComment(CgtpCommentType.PositionRegister, 1, "Home position");

// Read I/O comments
IOComments robotIo = robot.Cgtp.GetIoComments(CgtpCommentIoType.RobotIO);
IOComments digitalIo = robot.Cgtp.GetIoComments(CgtpCommentIoType.DigitalIO);
IOComments analogIo = robot.Cgtp.GetIoComments(CgtpCommentIoType.AnalogIO);

User alarms

Read and configure user alarm definitions:

// Read all user alarms
UserAlarmDefinition[] alarms = robot.Cgtp.ReadUserAlarms();
foreach (var alarm in alarms)
{
    Console.WriteLine($"Alarm: {alarm.Comment} (Severity: {alarm.Severity})");
}

// Set user alarm severity
robot.Cgtp.SetUserAlarmSeverity(1, 2);

File listing

List files on the controller using CGTP HTTP:

// List files in a directory
string[] files = robot.Cgtp.ListFiles("MD:");

// List TP programs
CgtpAsciiFileItem[] tpPrograms = robot.Cgtp.Http.ListTpPrograms();
foreach (var prog in tpPrograms)
{
    Console.WriteLine($"{prog.File} - {prog.Comment}");
}

// List variable files
CgtpAsciiFileItem[] varFiles = robot.Cgtp.Http.ListVariableFiles();

// Download as string
string content = robot.Cgtp.Http.DownloadAsString("numreg.va");

// Download as bytes
byte[] data = robot.Cgtp.Http.DownloadAsBytes("posreg.va");

Complete example

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

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

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

    robot.Connect(parameters);

    /**/
    // --- Register comments ---
    string[] regComments = robot.Cgtp.GetComments(CgtpCommentType.NumericRegister);
    string[] posComments = robot.Cgtp.GetComments(CgtpCommentType.PositionRegister);

    // Write a comment
    robot.Cgtp.SetComment(CgtpCommentType.NumericRegister, 1, "Speed setpoint");

    // --- I/O comments ---
    IOComments digitalIo = robot.Cgtp.GetIoComments(CgtpCommentIoType.DigitalIO);
    IOComments robotIo = robot.Cgtp.GetIoComments(CgtpCommentIoType.RobotIO);

    // --- User alarms ---
    UserAlarmDefinition[] alarms = robot.Cgtp.ReadUserAlarms();
    robot.Cgtp.SetUserAlarmSeverity(1, 2);

    // --- File listing ---
    string[] files = robot.Cgtp.ListFiles("MD:");

    CgtpAsciiFileItem[] tpPrograms = robot.Cgtp.Http.ListTpPrograms();
    CgtpAsciiFileItem[] varFiles = robot.Cgtp.Http.ListVariableFiles();
    CgtpFileItem[] diagFiles = robot.Cgtp.Http.ListDiagnosticFiles();

    // --- File download ---
    string content = robot.Cgtp.Http.DownloadAsString("numreg.va");
    byte[] data = robot.Cgtp.Http.DownloadAsBytes("posreg.va");
    /**/
  }
}

API reference

Members of Cgtp.CgtpCommentType :

public enum CgtpCommentType {
 
    // Analog input.
    AI = 12
 
    // Analog output.
    AO = 13
 
    // Digital input.
    DI = 8
 
    // Digital output.
    DO = 9
 
    // Flag (F[]).
    Flag = 19
 
    // Group input.
    GI = 10
 
    // Group output.
    GO = 11
 
    // Numeric register (R[]).
    NumericRegister = 1
 
    // Position register (PR[]).
    PositionRegister = 3
 
    // Robot input.
    RI = 6
 
    // Robot output.
    RO = 7
 
    // String register (SR[]).
    StringRegister = 14
 
    // User alarm.
    UserAlarm = 4
}

Members of Cgtp.CgtpCommentIoType :

public enum CgtpCommentIoType {
 
    // Analog I/O (AI/AO).
    AnalogIO = 35
 
    // Digital I/O (DI/DO).
    DigitalIO = 33
 
    // Group I/O (GI/GO).
    GroupIO = 34
 
    // Robot I/O (RI/RO).
    RobotIO = 32
}

Members of Cgtp.CgtpFileItem :

public class CgtpFileItem {
     public CgtpFileItem()
 
    // Comment associated with the file, if any.
    public string Comment { get; }
 
    // File name on the controller.
    public string File { get; }
     public override string ToString()
}

Members of Cgtp.CgtpAsciiFileItem :

public class CgtpAsciiFileItem : CgtpFileItem {
     public CgtpAsciiFileItem()
 
    // ASCII format file name, or null if not available.
    public string AsciiFile { get; }
     public override string ToString()
}

Members of Cgtp.Internal.CgtpHttpClient :

public class CgtpHttpClient : FileClientBase {
 
    // Base path used to build the download URL. Default is "MD".
    public string BasePath { get; set; }
 
    // Download a file from the controller and return its raw bytes.
    public byte[] DownloadAsBytes(string fileName)
 
    // Download a file from the controller and return a readable stream.
    // Otherwise the raw binary response is returned.
    public Stream DownloadAsStream(string fileName)
 
    // Download a file from the controller and return its content as a string.
    public string DownloadAsString(string fileName)
 
    // Get the list of all variable file names available on the controller
    public override string[] EnumerateVariableFileNames()
 
    // IP address of the controller
    public override string IP { get; }
 
    // List diagnostic and error files available on the controller.
    public CgtpFileItem[] ListDiagnosticFiles()
 
    // List other files available on the controller.
    public CgtpFileItem[] ListOtherFiles()
 
    // List TP program files available on the controller.
    public CgtpAsciiFileItem[] ListTpPrograms()
 
    // List variable files available on the controller.
    public CgtpAsciiFileItem[] ListVariableFiles()
}

Members of Common.UserAlarmDefinition :

public class UserAlarmDefinition {
     public UserAlarmDefinition()
 
    // Comment associated with this alarm.
    public string Comment { get; set; }
 
    // Severity level of the alarm.
    public int Severity { get; set; }
     public override string ToString()
}

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