Fanuc_GESRTP_Driver

Python 3 communication driver for reading and writing data to Fanuc Robots with HMI Device (SNPX) Option R553.

This was created in hopes to emulate Kepware's GE FANUC driver

Tag	Read	Write	Untested
DI	[x]	[x]	[ ]
DO	[x]	[x]	[ ]
NR	[x]	[x]	[ ]
SR	[x]	[x]	[ ]
GO	[x]	[x]	[ ]
GI	[ ]	[ ]	[x]
Anything Else	[ ]	[ ]	[x]

Read / Write Example:

sock = open_socket("127.0.0.1", 18245)
write_mem(1, "R", 32767, sock)
print("R1   :", decode_register(read_mem(1, "R", sock)))
sock.close()

Reading Strings:

Inside your SNPX_ASG System Variable on the robot, configure the memory address

• SETVAR $SNPX_ASG[X].$ADDRESS 2001
• SETVAR $SNPX_ASG[X].$SIZE 3960
• SETVAR $SNPX_ASG[X].$VAR_NAME "SR[1]"
• R2001-R2040: String register 1

write_mem(2001, "R", "Hello World.", sock)
print("Wrote \"%s\" to SR1" % decode_string(read_mem(11001, "R", sock, 40)))

Notes on Numeric Registers

• Write range for numeric registers is from -32768 to 32767
• Even though 65535 is the highest number you can read.
• Probably wont read floats when SNPX_ASG[X].$MULTIPLY is 0
• Tested with $MULTIPLY set to 1 (Signed 16 bit)

References

Research Paper on GE SRTP Protocol

C# Library

Python Library

C++ Library

Wireshark