Inputs & Outputs

Read and write digital signals (SDI, SDO, RDI, RDO, UI, UO, SI, SO, WI, WO) and numeric I/O (GI, GO, AI, AO) via SNPX.

Digital signals
- Read and write digital signals
Numeric I/O
- Read and write numeric I/O
Complete example
API reference

SNPX supports 13 digital signal types and 5 numeric I/O types, all with single and range read/write operations.

Digital signals

Digital signals are boolean values. The following types are available:

Type	Description
`SDI` / `SDO`	Standard Digital Input / Output
`RDI` / `RDO`	Robot Digital Input / Output
`UI` / `UO`	User Input / Output
`SI` / `SO`	System Input / Output
`WI` / `WO`	Weld Input / Output
`WSI`	Wire Stick Input
`PMC_K`	PMC Keep Relays
`PMC_R`	PMC Internal Relays

Read and write digital signals

// Read SDI[10]
bool sdi10 = robot.Snpx.SDI.Read(10);

// Write RDO[1] = ON
robot.Snpx.RDO.Write(1, true);

// Read UI[5]
bool ui5 = robot.Snpx.UI.Read(5);

// Read 100 SDI signals starting at index 1
bool[] values = robot.Snpx.SDI.Read(1, 100);

// Write 3 SDO signals starting at index 1
robot.Snpx.SDO.Write(1, new[] { true, false, true });

Numeric I/O

Numeric I/O signals are 16-bit unsigned integers (ushort):

Type	Description
`GI` / `GO`	Group Input / Output
`AI` / `AO`	Analog Input / Output
`PMC_D`	PMC Data

Read and write numeric I/O

// Read GI[1]
ushort gi1 = robot.Snpx.GI.Read(1);

// Write GO[1] = 500
robot.Snpx.GO.Write(1, 500);

// Read AI[1]
ushort ai1 = robot.Snpx.AI.Read(1);

// Write AO[2] = 32767
robot.Snpx.AO.Write(2, 32767);

// Read a range of GI values
ushort[] giValues = robot.Snpx.GI.Read(1, 100);

Complete example

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);
    /**/
  }
}

API reference

Members of Snpx.Internal.DigitalSignals :

public class DigitalSignals : SnpxElements<bool, int> {
 
    // Reads the digital signal at the specified index.
    public override bool Read(int index)
 
    // Reads a range of digital signals.
    public bool[] Read(int firstIndex, ushort count)
 
    // Gets the segment name identifying this signal group.
    public SegmentName SegmentName { get; }
 
    // Gets the segment offset for this signal group.
    public SegmentOffset SegmentOffset { get; }
 
    // Gets the segment selector for this signal group.
    public SegmentSelector SegmentSelector { get; }
 
    // Writes a value to the digital signal at the specified index.
    public void Write(int index, bool value)
 
    // Writes values to consecutive digital signals.
    public void Write(int firstIndex, bool[] values)
}

Members of Snpx.Internal.NumericIO :

public class NumericIO : SnpxElements<ushort, int> {
 
    // Reads the numeric I/O value at the specified index.
    public override ushort Read(int index)
 
    // Reads a range of numeric I/O values.
    public ushort[] Read(int firstIndex, ushort count)
 
    // Gets the segment name identifying this I/O group.
    public SegmentName SegmentName { get; }
 
    // Gets the segment offset for this I/O group.
    public SegmentOffset SegmentOffset { get; }
 
    // Gets the segment selector for this I/O group.
    public SegmentSelector SegmentSelector { get; }
 
    // Writes a value to the numeric I/O at the specified index.
    public void Write(int index, ushort value)
 
    // Writes values to consecutive numeric I/O.
    public void Write(int firstIndex, ushort[] values)
}

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