Fanuc Robot API Connector
Overview
The Fanuc connector provides tag-based read access and on-demand command access to a Fanuc robot controller, using SNPX (data access), Telnet (program/task control), and FTP (diagnostics) interfaces.
Digital I/O and system-variable/register tags are polled on every cycle via SNPX. Program control, port simulation, and variable writes are available on demand via Telnet-based connector methods; controller alarm history is available via an FTP-based method.
The connector detects when the underlying connection is lost and reconnects automatically without blocking the read cycle - reconnection runs on its own dedicated background thread.
Parameters
| Name | Values | Description |
|---|---|---|
| Type | FANUC | The connector type identifier. |
| IP | IP address or hostname | The IP address or hostname of the robot controller. |
| TelnetPwd | string | Password for the controller's Telnet interface, used for program/task control commands. |
| FtpUsername / FtpPwd | string | Credentials for the controller's FTP interface, used for alarm/diagnostic retrieval. |
| UpdateRate | milliseconds (integer) | How often the connector polls SNPX for tag updates. Defaults to 1000. |
| ReconnectDelay | milliseconds (integer) | Delay between reconnect attempts while the controller is unreachable. Defaults to 5000. |
| UpdateRate | milliseconds (integer) | How often the connector polls /current. Defaults to 1000. |
| ReconnectDelay | milliseconds (integer) | Delay between reconnect attempts while the Agent is unreachable. Defaults to 5000. |
Supported Tag Types:
| Tag Type | Address | Behaviour |
|---|---|---|
| Any standard tag | $SYSTEMVAR, e.g. $MOR_GRP.$CURRENT_ANG[1] | Read-only. A Fanuc system variable or register, read via SNPX. |
| Any standard tag | $SYSTEMVAR[start-end] | Read-only. A batch/range of indexed system variables. Requires Parameters[TYPE] (STRING, INTTAG, DECIMAL, or DATA) to specify the tag type assigned to each element. |
| Bool Tag | IOTYPE:ADDRESS, e.g. RDI:1 | A single digital I/O point (see IOTYPE table below). Read via SNPX_READIO; write via RunMethod("SNPX_WRITEIO"). |
IOTYPE values: RDI/RDO (robot digital I/O), SDI/SDO (system digital I/O), UI/UO (user I/O), WI/WO (weld I/O), AI/AO (analog I/O), GI/GO (group I/O), SI/SO (sensor I/O), WSI (weld sensor input).
Connector Methods
| Name | Arguments | Description |
|---|---|---|
| Ftp_GetActiveErrors | - | Retrieves the controller's active error log via FTP. |
| Snpx_ClearAlarms | - | Clears active alarms. |
| Snpx_CartesianPosition / Snpx_JointPosition | - | Reads the current cartesian/joint position. |
| Snpx_UserFrameCartesianPosition / Snpx_UserFrameJointPosition | - | Reads the current position relative to the active user frame. |
| Snpx_IntegerSysVar / Snpx_RealSysVar / Snpx_PositionSysVar / Snpx_StringSysVar | Var | Reads a single named system variable of the given type. |
| Snpx_IntegerSysVarBatch / Snpx_RealSysVarBatch / Snpx_PositionSysVarBatch / Snpx_StringSysVarBatch | - | Reads a pre-configured batch of system variables of the given type. |
| Snpx_NumericRegisters / Snpx_PositionRegisters / Snpx_StringRegisters | Index | Reads a numeric/position/string register by index. |
| Snpx_ReadIo / Snpx_ReadAnalogue | IOType, Address | Reads a single digital or analogue I/O point on demand. |
| Snpx_WriteIo / Snpx_WriteAnalogue | IOType, Address, Value | Writes a single digital or analogue I/O point. |
| Telnet_RunProgram / Telnet_AbortProgram / Telnet_ClearProgram / Telnet_ClearVars / Telnet_ContinueTask / Telnet_HoldTask / Telnet_PauseTask | ProgramName | Runs or controls the named program/task. |
| Telnet_AbortAllPrograms | - | Aborts every running program. |
| Telnet_Reset | - | Resets the controller. |
| Telnet_SetPort / Telnet_SimulatePort | Port, Index, Value | Sets or simulates a port value. |
| Telnet_UnsimulatePort | Port, Index | Clears simulation on a port. |
| Telnet_UnsimulateAAllPorts | - | Clears simulation on every port. |
| Telnet_SetVariable | Variable, Value | Sets a controller variable via Telnet. |
Addressing
The Address field of a tag is either a $-prefixed system variable/register name (optionally with a [start-end] range for a batch, which also requires Parameters[TYPE]), or an IOTYPE:ADDRESS pair for a single digital I/O point. The full SNPX/Telnet/FTP read/write surface is also available on demand via the RunMethod list above, for one-off reads or commands rather than continuous polling.