Alarms & task status

Read active alarms, alarm history, clear alarms, monitor running tasks, and read/write comments via SNPX.

Alarms
Task status and comments
Complete example
API reference

SNPX lets you read active alarms, browse alarm history, clear alarms, monitor running tasks, and read/write register and I/O comments.

Alarms

// Active alarm
RobotAlarm activeAlarm = robot.Snpx.ActiveAlarm.Read(1);
Console.WriteLine($"Alarm: {activeAlarm.Message}");
Console.WriteLine($"Severity: {activeAlarm.Severity}");
Console.WriteLine($"Time: {activeAlarm.Time}");

// Alarm history
RobotAlarm histAlarm = robot.Snpx.AlarmHistory.Read(10);

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

Task status and comments

Monitor running program tasks by index (1-based). Comments are short descriptions associated with registers or I/O ports.

Available comment types: Register, PositionRegister, StringRegister, DI, DO, RI, RO, UI, UO, SI, SO, WI, WO, WSI, WSO, GI, GO, AI, AO, Flag.

// Task status
RobotTaskStatus task = robot.Snpx.CurrentTaskStatus.Read(1);
Console.WriteLine($"Program: {task.ProgramName}");
Console.WriteLine($"Line: {task.LineNumber}");
Console.WriteLine($"State: {task.State}");       // Stopped, Paused, Running
Console.WriteLine($"Caller: {task.Caller}");

// Read and write comments
string comment = robot.Snpx.Comments.Read(CommentType.Register, 5);
string longComment = robot.Snpx.Comments.Read(CommentType.Register, 5, 24);
robot.Snpx.Comments.Write(CommentType.PositionRegister, 1, "Home Position", 16);

Complete example

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Snpx.Internal;
using UnderAutomation.Fanuc.Snpx;

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

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

    robot.Connect(parameters);

    /**/
    // --- Active alarm ---
    RobotAlarm activeAlarm = robot.Snpx.ActiveAlarm.Read(1);
    Console.WriteLine($"Alarm: {activeAlarm.Message}");
    Console.WriteLine($"Severity: {activeAlarm.Severity}");
    Console.WriteLine($"Time: {activeAlarm.Time}");

    // --- Alarm history ---
    RobotAlarm histAlarm = robot.Snpx.AlarmHistory.Read(10);
    Console.WriteLine($"History #{10}: {histAlarm.Message}");

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

    // --- Task status ---
    RobotTaskStatus task = robot.Snpx.CurrentTaskStatus.Read(1);
    Console.WriteLine($"Program: {task.ProgramName}");
    Console.WriteLine($"Line: {task.LineNumber}");
    Console.WriteLine($"State: {task.State}");
    Console.WriteLine($"Caller: {task.Caller}");

    // --- Read and write comments ---
    string comment = robot.Snpx.Comments.Read(CommentType.Register, 5);
    robot.Snpx.Comments.Write(CommentType.PositionRegister, 1, "Home Position", 16);
    /**/
  }
}

API reference

Members of Snpx.Internal.RobotAlarm :

public class RobotAlarm : IEquatable<RobotAlarm> {
     public RobotAlarm()
 
    // Cause Category
    public AlarmId CauseId { get; set; }
 
    // Cause message
    public string CauseMessage { get; set; }
 
    // Cause Number
    public short CauseNumber { get; set; }
     public override bool Equals(object obj)
 
    // Determines whether the specified <xref href="UnderAutomation.Fanuc.Snpx.Internal.RobotAlarm" data-throw-if-not-resolved="false"></xref> is equal to this instance.
    public bool Equals(RobotAlarm other)
 
    // Creates a <xref href="UnderAutomation.Fanuc.Snpx.Internal.RobotAlarm" data-throw-if-not-resolved="false"></xref> from a byte array.
    public static RobotAlarm FromBytes(byte[] bytes, Languages language, int start = 0)
     public override int GetHashCode()
 
    // Alarm Category
    public AlarmId Id { get; set; }
 
    // Error Message
    public string Message { get; set; }
 
    // Alarm Number
    public short Number { get; set; }
 
    // Alarm Severity
    public AlarmSeverity Severity { get; set; }
 
    // Severity message
    public string SeverityMessage { get; set; }
 
    // Occurrence Time
    public DateTime Time { get; set; }
     public override string ToString()
}

Members of Snpx.Internal.AlarmSeverity :

public enum AlarmSeverity : short {
 
    // Global abort level alarm.
    ABORT_G = 45
 
    // Local abort level alarm.
    ABORT_L = 11
 
    // No severity.
    NONE = 128
 
    // Global pause level alarm.
    PAUSE_G = 34
 
    // Local pause level alarm.
    PAUSE_L = 2
 
    // Servo error alarm.
    SERVO = 54
 
    // Servo error level 2 alarm.
    SERVO2 = 58
 
    // Global stop level alarm.
    STOP_G = 38
 
    // Local stop level alarm.
    STOP_L = 6
 
    // System level alarm.
    SYSTEM = 122
 
    // Warning level alarm.
    WARN = 0
}

Members of Snpx.Internal.RobotTaskStatus :

public class RobotTaskStatus : IEquatable<RobotTaskStatus> {
     public RobotTaskStatus()
 
    // Gets or sets the name of the calling program.
    public string Caller { get; set; }
     public override bool Equals(object obj)
 
    // Determines whether the specified <xref href="UnderAutomation.Fanuc.Snpx.Internal.RobotTaskStatus" data-throw-if-not-resolved="false"></xref> is equal to this instance.
    public bool Equals(RobotTaskStatus other)
 
    // Creates a <xref href="UnderAutomation.Fanuc.Snpx.Internal.RobotTaskStatus" data-throw-if-not-resolved="false"></xref> from a byte array.
    public static RobotTaskStatus FromBytes(byte[] bytes, Languages language, int start = 0)
     public override int GetHashCode()
 
    // Gets or sets the current line number in the program.
    public short LineNumber { get; set; }
 
    // Gets or sets the name of the program being executed.
    public string ProgramName { get; set; }
 
    // Gets or sets the current execution state of the task.
    public RobotTaskState State { get; set; }
     public override string ToString()
}

Members of Snpx.Internal.RobotTaskState :

public enum RobotTaskState {
 
    // Task is paused.
    Paused = 1
 
    // Task is running.
    Running = 2
 
    // Task is stopped.
    Stopped = 0
}

Members of Snpx.Internal.CommentType :

public enum CommentType {
 
    // Analog Input.
    AI = 17
 
    // Analog Output.
    AO = 18
 
    // Digital Input.
    DI = 3
 
    // Digital Output.
    DO = 4
 
    // Flag
    Flag = 19
 
    // Group Input.
    GI = 15
 
    // Group Output.
    GO = 16
 
    // Position register PR[].
    PositionRegister = 1
 
    // Remote Input.
    RI = 5
 
    // Remote Output.
    RO = 6
 
    // Numeric register R[].
    Register = 0
 
    // System Input.
    SI = 9
 
    // System Output.
    SO = 10
 
    // String register SR[].
    StringRegister = 2
 
    // User Input.
    UI = 7
 
    // User Output.
    UO = 8
 
    // Weld Input.
    WI = 11
 
    // Weld Output.
    WO = 12
 
    // Wire Stick Input.
    WSI = 13
 
    // Wire Stick Output.
    WSO = 14
}

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Alarms & task status

Alarms

Task status and comments

Complete example

API reference