• Add GetEncoding method to StringUtils for retrieving encoding by controller language

namespace UnderAutomation.Fanuc.Common;

public static class StringUtils {
    public static Encoding GetEncoding(Languages language);
}

• Fix Telnet program Breakpoint commands for Japanese and Chinese controllers

• Set FTP encoding according to robot controller language

• Added support for Japanese and Chinese languages. You can now set the language in the Connect Parameters.

var robot = new FanucRobot();

var parameters = new ConnectParameters("192.168.0.1");
parameters.Language = Languages.English; // or Languages.Japanese, or Languages.Chinese

robot.Connect(parameters);

• The SDK now supports Shift-JIS and GB2312 encodings for Japanese and Chinese string data.
• Throws a ConnectException when the connection fails instead of a generic exception. It now includes more details about the failure and the protocol that caused it.

Major new feature

Added forward and inverse kinematics support for CRX cobots and other Fanuc robots with a traditional spherical wrist.

using UnderAutomation.Fanuc.Kinematics;

JointsPosition position = new JointsPosition(10, 20, 120, 0, 0, 25);

// ---- Get DH parameters ----
// Example: CRX-10iA/L
DhParameters dh = new DhParameters(-540, 150, -160, 0, 710, 0);

// From a known arm model
dh = DhParameters.FromArmKinematicModel(ArmKinematicModels.CRX10iA);

// From OPW parameters: M10iA/7L
dh = DhParameters.FromOpwParameters(0.15, -0.20, 0.60, 0.86, 0.10);

// From an online robot (SYSMOTN file)
dh = DhParameters.FromSymotnFile(_robot.Ftp.KnownVariableFiles.GetSymotnFile())[0];

// ---- Forward kinematics ----
CartesianPosition pose = KinematicsUtils.ForwardKinematics(position, dh);

// ---- Inverse kinematics with multiple solutions ----
JointsPosition[] positions = KinematicsUtils.InverseKinematics(pose, dh);

Minor fixes

• SNPX: Fixed writing of position registers and position variables where the configuration was always written with the default value.
• SNPX: Fixed reading of position register configuration so that it uses the correct Turn4 to Turn6 values.
• Removed properties T4, T5, T6 from UnderAutomation.Fanuc.Common.ExtendedCartesianPosition. This information is now available in the Configuration property.
• Renamed and fixed properties Turn1, Turn2, Turn3 to Turn4, Turn5, Turn6 in UnderAutomation.Fanuc.Common.Configuration so they match the correct axes.
• Allowed connection to ROBOGUIDE by setting both the robot folder path and the path to the services.txt file.

• FTP Error List : add occuring time and parse error code

• SNPX / TELNET : Allow writing empty string variables

• SNPX : implement direct writing of variables without assignment

_robot.Snpx.SetVariable("SYSTEM_VARIABLE_NAME", NewValue);

• Experimental support for RMI (Remote Motion Interface)

• Telnet : add capability to send a custom KCL command

robot.Telnet.SendCustomCommand("My KCL Command");

• SNPX : Add active alarm and alarm history access

RobotAlarm firstActiveAlarm = robot.Snpx.ActiveAlarm.Read(1);
RobotAlarm secondAlarmInHistory = robot.Snpx.AlarmHistory.Read(1);

• Telnet : add capability to send a custom KCL command

robot.Telnet.SendCustomCommand("My KCL Command");

• SNPX : Add active alarm and alarm history access

RobotAlarm firstActiveAlarm = robot.Snpx.ActiveAlarm.Read(1);
RobotAlarm secondAlarmInHistory = robot.Snpx.AlarmHistory.Read(1);

• SNPX : Enable batch reading of registers and variables

NumericRegistersBatchAssignment assignment = _robot.Snpx.NumericRegisters.CreateBatchAssignment(1, 40);

float[] values = assignment.Read();