UnderAutomation.Fanuc 1.5.0

Fanuc Communication SDK

🤖 Effortlessly Communicate with Fanuc robots

The Fanuc SDK enables seamless integration with Fanuc robots for automation, data exchange, and remote control. Ideal for industrial automation, research, and advanced robotics applications.

🔗 More Information: https://underautomation.com/fanuc
🔗 Also available for 🟨 LabVIEW & 🐍 Python

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🚀 TL;DR (Too Long; Didn’t Read)

• ✔️ PCDK Alternative: No need for Fanuc’s PCDK or Robot Interface
• 📖 Read/Write Variables: Access and modify system variables.
• 🔄 Register Control: Read/write registers for positions, numbers, and strings.
• 🎬 Program Control: Run, abort, and reset programs.
• 🔔 Alarm Management: Reset alarms and view alarm history.
• ⚡ I/O Control: Manage ports and I/O values (UI, UO, GI, GO, etc.).
• 🔍 State Monitoring: Get safety status, position, diagnostics, and more.
• 📂 File Management: Easily manipulate files.

No additional installations or Fanuc options are required to use this SDK.

📥 Download Example Applications

Explore the Fanuc SDK with fully functional example applications and precompiled binaries for various platforms. See Github releases

🔹 Windows Forms Application (Full Feature Showcase)

A Windows Forms application demonstrating all the features of the library.

📌 Download: 📥 UnderAutomation.Fanuc.Showcase.Forms.exe

<p align="center"> <img src="https://raw.githubusercontent.com/underautomation/Fanuc.NET/refs/heads/main/.github/assets/read-variables.gif" > <img src="https://raw.githubusercontent.com/underautomation/Fanuc.NET/refs/heads/main/.github/assets/move-robot.gif" > <img src="https://raw.githubusercontent.com/underautomation/Fanuc.NET/refs/heads/main/.github/assets/snpx.gif" > </p>

📌 Features

🖥️ 1. Remote Control via Telnet KCL

Telnet KCL (Keyboard Command Line) allows sending commands to control the robot remotely—no additional options needed on the controller.

🔹 Reset alarms

robot.Telnet.Reset();

🔹 Start, pause, hold, abort programs

robot.Telnet.Run("MyProgram");
robot.Telnet.Pause("MyProgram");
robot.Telnet.Hold("MyProgram");
robot.Telnet.Continue("MyProgram");
robot.Telnet.Abort("MyProgram", force: true);

🔹 Set variables dynamically

robot.Telnet.SetVariable("my_variable", 42);
robot.Telnet.SetVariable("$RMT_MASTER", 1);

🔹 Control robot I/O ports

// Set an output port (example: DOUT port 2 = 0)
robot.Telnet.SetPort(KCLPorts.DOUT, 2, 0);

// Simulate an input port (example: DIN port 3 = 1)
robot.Telnet.Simulate(KCLPorts.DIN, 3, 1);
robot.Telnet.Unsimulate(KCLPorts.DIN, 3);

🚀 2. High-Speed Data Exchange via SNPX (RobotIF)

SNPX (also known as SRTP/RobotIF) enables fast, structured data communication with the robot.
It is used to read/write registers, monitor alarms, and check robot status.

🔹 Read & write position registers

// Read position register 1
Position register1 = robot.Snpx.PositionRegisters.Read(1);

// Set a new value for register 2
robot.Snpx.PositionRegisters.Write(2, new Position { X = 100, Y = 50, Z = 25 });

🔹 Read & write numeric registers

// Read register R[1]
double value = robot.Snpx.Registers.Read(1);

// Write a value to R[2]
robot.Snpx.Registers.Write(2, 123.45);

🔹 Get alarm history

var alarms = robot.Snpx.Alarms.GetActiveAlarms();
foreach (var alarm in alarms)
{
    Console.WriteLine($"Alarm {alarm.Code}: {alarm.Message}");
}

🔹 Read and control robot signals (UI, UO, GI, GO)

// Read a User Input (UI) state
bool UI1 = robot.Snpx.UI.Read(1);

// Set a User Output (UO) signal
robot.Snpx.UO.Write(3, true);

📂 3. File & Variable Management via FTP Memory Access

The SDK provides direct FTP access to the robot's memory for file transfer, variable reading, and configuration management.

🔹 Upload, download, and delete files

// Upload a TP program to the controller
robot.Ftp.DirectFileHandling.UploadFileToController(@"C:\Programs\MyPrg.tp", "md:/MyPrg.tp");

// Download a file from the robot
robot.Ftp.DirectFileHandling.DownloadFileFromController("md:/Backup.va", @"C:\Backup\Backup.va");

// Delete a file on the robot
robot.Ftp.DirectFileHandling.DeleteFile("md:/OldProgram.tp");

🔹 Read all declared variables

var allVariables = robot.Ftp.GetAllVariables();
foreach (var variable in allVariables)
{
    Console.WriteLine($"{variable.Name} = {variable.Value}");
}

🔹 Read known system variables

// Read system variable $RMT_MASTER
int remoteMode = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

🔹 Check robot safety status

SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

🔹 Retrieve the robot's current position

CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();
Console.WriteLine($"Cartesian Position: X={currentPosition.Cartesian.X}, Y={currentPosition.Cartesian.Y}, Z={currentPosition.Cartesian.Z}");

🔧 Configuration

✅ Enable Telnet KCL

1. Go to SETUP > Host Comm
2. Select TELNET and press [DETAIL]
3. Set a password and restart the robot

✅ Enable FTP Memory Access

1. Go to SETUP > Host Comm > FTP
2. Set a username & password
3. Perform a cold start

✅ Enable SNPX

• If Your Robot Uses "FANUC America Corp." Parameters (R650 FRA): You need to enable option R553 ("HMI Device SNPX") in the robot's software configuration.

• If Your Robot Uses "FANUC Ltd." Parameters (R651 FRL): No additional option is required—SNPX is included by default.

🛠 Installation

1️⃣ Get the SDK

Choose the installation method that works best for you:

2️⃣ Reference the SDK in Your Code

using UnderAutomation.Fanuc;

3️⃣ Connect to Your Robot

var robot = new FanucRobot();
robot.Connect(new ConnectParameters("192.168.0.1"));

🔍 Compatibility

✅ Supported Robots: R-J3iB, R-30iA, R-30iB
✅ Operating Systems: Windows, Linux, macOS
✅ .NET Versions: .NET Framework (≥3.5), .NET Standard, .NET Core, .NET 5/6/8/9

📢 Contributing

We welcome contributions! Feel free to:

• Report issues via GitHub Issues
• Submit pull requests with improvements
• Share feedback & feature requests

📜 License

⚠️ This SDK requires a commercial license.
🔗 Learn more: UnderAutomation Licensing

📬 Need Help?

If you have any questions or need support:

• 📖 Check the Docs: Documentation
• 📩 Contact Us: Support