SNPX overview

public class SnpxClient : SnpxClientBase {
 
    // Initializes a new instance of the <xref href="UnderAutomation.Fanuc.Snpx.SnpxClient" data-throw-if-not-resolved="false"></xref> class.
    public SnpxClient()
 
    // Connects to a Fanuc robot using the SNPX protocol.
    public void Connect(string ip, int port = 60008)
}

public class SnpxClientBase {
 
    // Analog Inputs
    public NumericIO AI { get; }
 
    // Analog Outputs
    public NumericIO AO { get; }
 
    // Current active alarms
    public AlarmAccess ActiveAlarm { get; }
 
    // Alarm history
    public AlarmAccess AlarmHistory { get; }
 
    // Clear all active alarms
    public void ClearAlarms()
 
    // Clear all assignments
    public void ClearAssignments()
 
    // Comments of registers, I/O signals and other data
    public Comments Comments { get; }
     protected void ConnectInternal(string ip, int port = 60008)
 
    // Indicates if the SNPX underlying TCP client is connected to the robot
    public bool Connected { get; }
 
    // Current position in world or user frame
    public CurrentPosition CurrentPosition { get; }
 
    // Current program tasks status. Index starts from 1.
    public CurrentTaskStatus CurrentTaskStatus { get; }
 
    // List of all digital signal accessors (SDI, SDO, RDI, RDO, ...)
    public DigitalSignals[] DigitalSignals { get; }
 
    // Disconnect from the robot
    public void Disconnect()
 
    // Flags
    public Flags Flags { get; }
 
    // Group Inputs
    public NumericIO GI { get; }
 
    // Group Outputs
    public NumericIO GO { get; }
 
    // Gets all current assignments.
    public Assignment[] GetAssignments()
 
    // Integer variables
    public IntegerSystemVariables IntegerSystemVariables { get; }
 
    // IP address of the connected robot.
    public string Ip { get; }
 
    // Controller language (default is English)
    public Languages Language { get; set; }
 
    // List of all Numeric IOs accessors (GI, GO, AI, AO, ...)
    public NumericIO[] NumericIOs { get; }
 
    // Number registers R[] as floating point values
    public NumericRegisters NumericRegisters { get; }
 
    // Number registers R[] as 16-bit integer values
    public NumericRegistersInt16 NumericRegistersInt16 { get; }
 
    // Number registers R[] as 32-bit integer values
    public NumericRegistersInt32 NumericRegistersInt32 { get; }
 
    // Programmable Machine Controller Data
    public NumericIO PMC_D { get; }
 
    // Programmable Machine Controller Constants
    public DigitalSignals PMC_K { get; }
 
    // Programmable Machine Controller Relays
    public DigitalSignals PMC_R { get; }
 
    // Checks the actual connection status via an active socket polling
    public bool PollAndGetUpdatedConnectedState()
 
    // Position registers
    public PositionRegisters PositionRegisters { get; }
 
    // Position variables
    public PositionSystemVariables PositionSystemVariables { get; }
 
    // Remote Digital Inputs
    public DigitalSignals RDI { get; }
 
    // Remote Digital Outputs
    public DigitalSignals RDO { get; }
 
    // Real variables
    public RealSystemVariables RealSystemVariables { get; }
 
    // Safety Digital Inputs
    public DigitalSignals SDI { get; }
 
    // Safety Digital Outputs
    public DigitalSignals SDO { get; }
 
    // System Inputs
    public DigitalSignals SI { get; }
 
    // System Outputs
    public DigitalSignals SO { get; }
 
    // Set boolean variable without assignments.
    public void SetVariable(string name, bool value)
 
    // Set double variable without assignments.
    public void SetVariable(string name, double value)
 
    // Set integer variable without assignments.
    public void SetVariable(string name, int value)
 
    // Set string variable without assignments.
    public void SetVariable(string name, string value)
 
    // I/O simulation status
    public SimulationStatus SimulationStatus { get; }
 
    // String registers
    public StringRegisters StringRegisters { get; }
 
    // String variables
    public StringSystemVariables StringSystemVariables { get; }
 
    // User Inputs
    public DigitalSignals UI { get; }
 
    // User Outputs
    public DigitalSignals UO { get; }
 
    // Weld Inputs
    public DigitalSignals WI { get; }
 
    // Weld Outputs
    public DigitalSignals WO { get; }
 
    // Weld System Inputs
    public DigitalSignals WSI { get; }
}