UnderAutomation.Fanuc 2.0.0.1__py3-none-any.whl

underautomation/fanuc/ftp/variables/zdt_dcschg_variable_type.py

@@ -0,0 +1,31 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZdtDcschgVariableType as zdt_dcschg_variable_type
+
+class ZdtDcschgVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zdt_dcschg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def dcschg_enb(self) -> bool:
+		return self._instance.DcschgEnb
+	@property
+	def login_idx(self) -> int:
+		return self._instance.LoginIdx
+	@property
+	def last_signat(self) -> int:
+		return self._instance.LastSignat
+	@property
+	def lst_time(self) -> int:
+		return self._instance.LstTime
+	@property
+	def dcs_funct(self) -> int:
+		return self._instance.DcsFunct
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zip_cfg_variable_type.py

@@ -0,0 +1,22 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZipCfgVariableType as zip_cfg_variable_type
+
+class ZipCfgVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zip_cfg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def dbglvl(self) -> int:
+		return self._instance.Dbglvl
+	@property
+	def ldebug(self) -> typing.List[int]:
+		return self._instance.Ldebug
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zmpcf_grp_variable_type.py

@@ -0,0 +1,22 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZmpcfGrpVariableType as zmpcf_grp_variable_type
+
+class ZmpcfGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zmpcf_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def zmp_enb(self) -> int:
+		return self._instance.ZmpEnb
+	@property
+	def zmp_dmy_lnk(self) -> typing.List[float]:
+		return self._instance.ZmpDmyLnk
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zmpos_grp_variable_type.py

@@ -0,0 +1,74 @@
+import typing
+from underautomation.fanuc.ftp.variables.cartesian_position_variable import CartesianPositionVariable
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZmposGrpVariableType as zmpos_grp_variable_type
+
+class ZmposGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zmpos_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def m_pos_enb(self) -> int:
+		return self._instance.MPosEnb
+	@property
+	def cmcmd_scl(self) -> int:
+		return self._instance.CmcmdScl
+	@property
+	def cart_mcmd(self) -> typing.List[float]:
+		return self._instance.CartMcmd
+	@property
+	def p_act(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PAct)
+	@property
+	def j_act(self) -> typing.List[float]:
+		return self._instance.JAct
+	@property
+	def p_des(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PDes)
+	@property
+	def j_des(self) -> typing.List[float]:
+		return self._instance.JDes
+	@property
+	def p_des2(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PDes2)
+	@property
+	def j_des2(self) -> typing.List[float]:
+		return self._instance.JDes2
+	@property
+	def p_act_uf(self) -> typing.List[float]:
+		return self._instance.PActUf
+	@property
+	def p_des_uf(self) -> typing.List[float]:
+		return self._instance.PDesUf
+	@property
+	def uxwpr_enb(self) -> int:
+		return self._instance.UxwprEnb
+	@property
+	def uxeul_enb(self) -> int:
+		return self._instance.UxeulEnb
+	@property
+	def uxwpr_act(self) -> typing.List[float]:
+		return self._instance.UxwprAct
+	@property
+	def uxwpr_des(self) -> typing.List[float]:
+		return self._instance.UxwprDes
+	@property
+	def uxeul_act(self) -> typing.List[float]:
+		return self._instance.UxeulAct
+	@property
+	def uxeul_des(self) -> typing.List[float]:
+		return self._instance.UxeulDes
+	@property
+	def p_aftflt(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PAftflt)
+	@property
+	def j_aftflt(self) -> typing.List[float]:
+		return self._instance.JAftflt
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_cfg_variable_type.py

@@ -0,0 +1,22 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpCfgVariableType as zp_cfg_variable_type
+
+class ZpCfgVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_cfg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@property
+	def debug(self) -> int:
+		return self._instance.Debug
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_cylinder_variable_type.py

@@ -0,0 +1,28 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpCylinderVariableType as zp_cylinder_variable_type
+
+class ZpCylinderVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_cylinder_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def radius(self) -> float:
+		return self._instance.Radius
+	@property
+	def height(self) -> float:
+		return self._instance.Height
+	@property
+	def prog_name(self) -> typing.List[str]:
+		return self._instance.ProgName
+	@property
+	def line_num(self) -> typing.List[int]:
+		return self._instance.LineNum
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_grp_variable_type.py

@@ -0,0 +1,49 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpGrpVariableType as zp_grp_variable_type
+
+class ZpGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def options(self) -> typing.List[int]:
+		return self._instance.Options
+	@property
+	def break_time(self) -> int:
+		return self._instance.BreakTime
+	@property
+	def work_shift(self) -> int:
+		return self._instance.WorkShift
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@property
+	def rv_life(self) -> typing.List[int]:
+		return self._instance.RvLife
+	@property
+	def shift_ovc(self) -> typing.List[float]:
+		return self._instance.ShiftOvc
+	@property
+	def part_id(self) -> int:
+		return self._instance.PartId
+	@property
+	def optm_rate(self) -> typing.List[float]:
+		return self._instance.OptmRate
+	@property
+	def max_i_rate(self) -> int:
+		return self._instance.MaxIRate
+	@property
+	def max_di_rate(self) -> int:
+		return self._instance.MaxDiRate
+	@property
+	def trace_env(self) -> float:
+		return self._instance.TraceEnv
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_sphere_variable_type.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpSphereVariableType as zp_sphere_variable_type
+
+class ZpSphereVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_sphere_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def radius(self) -> float:
+		return self._instance.Radius
+	@property
+	def prog_name(self) -> typing.List[str]:
+		return self._instance.ProgName
+	@property
+	def line_num(self) -> typing.List[int]:
+		return self._instance.LineNum
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/lib/version.txt

@@ -0,0 +1 @@
+2.0.0.1

underautomation/fanuc/license/invalid_license_exception.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.license.license_info import LicenseInfo
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import InvalidLicenseException as invalid_license_exception
+
+class InvalidLicenseException:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = invalid_license_exception()
+		else:
+			self._instance = _internal
+	@property
+	def license_info(self) -> LicenseInfo:
+		return LicenseInfo(None, None, self._instance.LicenseInfo)

underautomation/fanuc/license/license_info.py

@@ -0,0 +1,48 @@
+import typing
+from underautomation.fanuc.license.license_state import LicenseState
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import LicenseInfo as license_info
+
+class LicenseInfo:
+	def __init__(self, licenseIdentifier: str, licenseKey: str, _internal = 0):
+		if(_internal == 0):
+			self._instance = license_info(licenseIdentifier, licenseKey)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def license_key(self) -> str:
+		return self._instance.LicenseKey
+	@property
+	def product(self) -> str:
+		return self._instance.Product
+	@property
+	def evaluation_days_left(self) -> typing.Any:
+		return self._instance.EvaluationDaysLeft
+	@property
+	def evaluation_start_date(self) -> typing.Any:
+		return self._instance.EvaluationStartDate
+	@property
+	def licensee(self) -> str:
+		return self._instance.Licensee
+	@property
+	def trial_period_expiration_date(self) -> typing.Any:
+		return self._instance.TrialPeriodExpirationDate
+	@property
+	def state(self) -> LicenseState:
+		return LicenseState(self._instance.State)
+	@property
+	def product_release_date(self) -> typing.Any:
+		return self._instance.ProductReleaseDate
+	@property
+	def maintenance_years(self) -> int:
+		return self._instance.MaintenanceYears
+	@property
+	def license_issued_date(self) -> typing.Any:
+		return self._instance.LicenseIssuedDate
+	@property
+	def maintenance_expiration_date(self) -> typing.Any:
+		return self._instance.MaintenanceExpirationDate

underautomation/fanuc/license/license_state.py

@@ -0,0 +1,12 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import LicenseState as license_state
+
+class LicenseState(int):
+	Invalid = license_state.Invalid
+	Trial = license_state.Trial
+	ExtraTrial = license_state.ExtraTrial
+	Expired = license_state.Expired
+	MaintenanceNeeded = license_state.MaintenanceNeeded
+	Licensed = license_state.Licensed

underautomation/fanuc/rmi/data/cartesian_position.py

@@ -0,0 +1,27 @@
+import typing
+from underautomation.fanuc.rmi.data.motion_configuration import MotionConfiguration
+from underautomation.fanuc.rmi.data.frame import Frame
+from underautomation.fanuc.rmi.data.rmi_timed_response import RmiTimedResponse
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import CartesianPosition as cartesian_position
+
+class CartesianPosition(RmiTimedResponse):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = cartesian_position()
+		else:
+			self._instance = _internal
+	@property
+	def configuration(self) -> MotionConfiguration:
+		return MotionConfiguration(self._instance.Configuration)
+	@configuration.setter
+	def configuration(self, value: MotionConfiguration):
+		self._instance.Configuration = value
+	@property
+	def position(self) -> Frame:
+		return Frame(self._instance.Position)
+	@position.setter
+	def position(self, value: Frame):
+		self._instance.Position = value

underautomation/fanuc/rmi/data/command_verb.py

@@ -0,0 +1,27 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import CommandVerb as command_verb
+
+class CommandVerb(int):
+	FRC_Initialize = command_verb.FRC_Initialize
+	FRC_Abort = command_verb.FRC_Abort
+	FRC_Pause = command_verb.FRC_Pause
+	FRC_Continue = command_verb.FRC_Continue
+	FRC_Reset = command_verb.FRC_Reset
+	FRC_ReadError = command_verb.FRC_ReadError
+	FRC_SetUFrameUTool = command_verb.FRC_SetUFrameUTool
+	FRC_GetStatus = command_verb.FRC_GetStatus
+	FRC_ReadUFrameData = command_verb.FRC_ReadUFrameData
+	FRC_WriteUFrameData = command_verb.FRC_WriteUFrameData
+	FRC_ReadUToolData = command_verb.FRC_ReadUToolData
+	FRC_WriteUToolData = command_verb.FRC_WriteUToolData
+	FRC_ReadDIN = command_verb.FRC_ReadDIN
+	FRC_WriteDOUT = command_verb.FRC_WriteDOUT
+	FRC_ReadCartesianPosition = command_verb.FRC_ReadCartesianPosition
+	FRC_ReadJointAngles = command_verb.FRC_ReadJointAngles
+	FRC_SetOverRide = command_verb.FRC_SetOverRide
+	FRC_GetUFrameUTool = command_verb.FRC_GetUFrameUTool
+	FRC_ReadPositionRegister = command_verb.FRC_ReadPositionRegister
+	FRC_WritePositionRegister = command_verb.FRC_WritePositionRegister
+	FRC_ReadTCPSpeed = command_verb.FRC_ReadTCPSpeed

underautomation/fanuc/rmi/data/communication_verb.py

@@ -0,0 +1,10 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import CommunicationVerb as communication_verb
+
+class CommunicationVerb(int):
+	FRC_Connect = communication_verb.FRC_Connect
+	FRC_Disconnect = communication_verb.FRC_Disconnect
+	FRC_Terminate = communication_verb.FRC_Terminate
+	FRC_SystemFault = communication_verb.FRC_SystemFault

underautomation/fanuc/rmi/data/controller_error_text.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import ControllerErrorText as controller_error_text
+
+class ControllerErrorText(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = controller_error_text()
+		else:
+			self._instance = _internal
+	@property
+	def error_data(self) -> str:
+		return self._instance.ErrorData
+	@error_data.setter
+	def error_data(self, value: str):
+		self._instance.ErrorData = value

underautomation/fanuc/rmi/data/controller_status.py

@@ -0,0 +1,61 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import ControllerStatus as controller_status
+
+class ControllerStatus(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = controller_status()
+		else:
+			self._instance = _internal
+	@property
+	def servo_ready(self) -> int:
+		return self._instance.ServoReady
+	@servo_ready.setter
+	def servo_ready(self, value: int):
+		self._instance.ServoReady = value
+	@property
+	def tp_mode(self) -> int:
+		return self._instance.TPMode
+	@tp_mode.setter
+	def tp_mode(self, value: int):
+		self._instance.TPMode = value
+	@property
+	def rmi_motion_status(self) -> int:
+		return self._instance.RMIMotionStatus
+	@rmi_motion_status.setter
+	def rmi_motion_status(self, value: int):
+		self._instance.RMIMotionStatus = value
+	@property
+	def program_status(self) -> int:
+		return self._instance.ProgramStatus
+	@program_status.setter
+	def program_status(self, value: int):
+		self._instance.ProgramStatus = value
+	@property
+	def single_step_mode(self) -> int:
+		return self._instance.SingleStepMode
+	@single_step_mode.setter
+	def single_step_mode(self, value: int):
+		self._instance.SingleStepMode = value
+	@property
+	def number_u_tool(self) -> int:
+		return self._instance.NumberUTool
+	@number_u_tool.setter
+	def number_u_tool(self, value: int):
+		self._instance.NumberUTool = value
+	@property
+	def next_sequence_id(self) -> int:
+		return self._instance.NextSequenceId
+	@next_sequence_id.setter
+	def next_sequence_id(self, value: int):
+		self._instance.NextSequenceId = value
+	@property
+	def number_u_frame(self) -> int:
+		return self._instance.NumberUFrame
+	@number_u_frame.setter
+	def number_u_frame(self, value: int):
+		self._instance.NumberUFrame = value

underautomation/fanuc/rmi/data/digital_input_value.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import DigitalInputValue as digital_input_value
+
+class DigitalInputValue(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = digital_input_value()
+		else:
+			self._instance = _internal
+	@property
+	def port_number(self) -> int:
+		return self._instance.PortNumber
+	@port_number.setter
+	def port_number(self, value: int):
+		self._instance.PortNumber = value
+	@property
+	def port_value(self) -> int:
+		return self._instance.PortValue
+	@port_value.setter
+	def port_value(self, value: int):
+		self._instance.PortValue = value

underautomation/fanuc/rmi/data/frame.py

@@ -0,0 +1,66 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import Frame as frame
+
+class Frame:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = frame()
+		else:
+			self._instance = _internal
+	@property
+	def x(self) -> float:
+		return self._instance.X
+	@x.setter
+	def x(self, value: float):
+		self._instance.X = value
+	@property
+	def y(self) -> float:
+		return self._instance.Y
+	@y.setter
+	def y(self, value: float):
+		self._instance.Y = value
+	@property
+	def z(self) -> float:
+		return self._instance.Z
+	@z.setter
+	def z(self, value: float):
+		self._instance.Z = value
+	@property
+	def w(self) -> float:
+		return self._instance.W
+	@w.setter
+	def w(self, value: float):
+		self._instance.W = value
+	@property
+	def p(self) -> float:
+		return self._instance.P
+	@p.setter
+	def p(self, value: float):
+		self._instance.P = value
+	@property
+	def r(self) -> float:
+		return self._instance.R
+	@r.setter
+	def r(self, value: float):
+		self._instance.R = value
+	@property
+	def ext1(self) -> float:
+		return self._instance.Ext1
+	@ext1.setter
+	def ext1(self, value: float):
+		self._instance.Ext1 = value
+	@property
+	def ext2(self) -> float:
+		return self._instance.Ext2
+	@ext2.setter
+	def ext2(self, value: float):
+		self._instance.Ext2 = value
+	@property
+	def ext3(self) -> float:
+		return self._instance.Ext3
+	@ext3.setter
+	def ext3(self, value: float):
+		self._instance.Ext3 = value

underautomation/fanuc/rmi/data/indexed_frame.py

@@ -0,0 +1,26 @@
+import typing
+from underautomation.fanuc.rmi.data.frame import Frame
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import IndexedFrame as indexed_frame
+
+class IndexedFrame(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = indexed_frame()
+		else:
+			self._instance = _internal
+	@property
+	def index(self) -> int:
+		return self._instance.Index
+	@index.setter
+	def index(self, value: int):
+		self._instance.Index = value
+	@property
+	def frame(self) -> Frame:
+		return Frame(self._instance.Frame)
+	@frame.setter
+	def frame(self, value: Frame):
+		self._instance.Frame = value

underautomation/fanuc/rmi/data/instruction_verb.py

@@ -0,0 +1,21 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import InstructionVerb as instruction_verb
+
+class InstructionVerb(int):
+	FRC_WaitDin = instruction_verb.FRC_WaitDin
+	FRC_SetUFrame = instruction_verb.FRC_SetUFrame
+	FRC_SetUTool = instruction_verb.FRC_SetUTool
+	FRC_Wait = instruction_verb.FRC_Wait
+	FRC_PayLoad = instruction_verb.FRC_PayLoad
+	FRC_LinearMotion = instruction_verb.FRC_LinearMotion
+	FRC_LinearRelative = instruction_verb.FRC_LinearRelative
+	FRC_JointMotion = instruction_verb.FRC_JointMotion
+	FRC_JointRelative = instruction_verb.FRC_JointRelative
+	FRC_CircularMotion = instruction_verb.FRC_CircularMotion
+	FRC_CircularRelative = instruction_verb.FRC_CircularRelative
+	FRC_JointMotionJRep = instruction_verb.FRC_JointMotionJRep
+	FRC_JointRelativeJRep = instruction_verb.FRC_JointRelativeJRep
+	FRC_LinearMotionJRep = instruction_verb.FRC_LinearMotionJRep
+	FRC_LinearRelativeJRep = instruction_verb.FRC_LinearRelativeJRep