UnderAutomation.Fanuc 3.5.0.0__py3-none-any.whl

underautomation/fanuc/rmi/internal/rmi_client_base.py

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+import typing
+from underautomation.fanuc.rmi.data.controller_error_text import ControllerErrorText
+from underautomation.fanuc.rmi.data.controller_status import ControllerStatus
+from underautomation.fanuc.rmi.data.indexed_frame import IndexedFrame
+from underautomation.fanuc.rmi.data.frame import Frame
+from underautomation.fanuc.rmi.data.digital_input_value import DigitalInputValue
+from underautomation.fanuc.rmi.data.on_off import OnOff
+from underautomation.fanuc.rmi.data.cartesian_position import CartesianPosition
+from underautomation.fanuc.rmi.data.joint_angles_sample import JointAnglesSample
+from underautomation.fanuc.rmi.data.u_frame_u_tool_numbers import UFrameUToolNumbers
+from underautomation.fanuc.rmi.data.position_register_data import PositionRegisterData
+from underautomation.fanuc.rmi.data.motion_configuration import MotionConfiguration
+from underautomation.fanuc.rmi.data.tcp_speed import TcpSpeed
+from underautomation.fanuc.rmi.data.rmi_sequence_response import RmiSequenceResponse
+from underautomation.fanuc.rmi.data.speed_type import SpeedType
+from underautomation.fanuc.rmi.data.termination_type import TerminationType
+from underautomation.fanuc.rmi.data.joint_angles import JointAngles
+from underautomation.fanuc.rmi.data.port_type import PortType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Internal import RmiClientBase as rmi_client_base
+
+class RmiClientBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client_base()
+		else:
+			self._instance = _internal
+	def disconnect(self) -> None:
+		self._instance.Disconnect()
+	def initialize(self) -> int:
+		return self._instance.Initialize()
+	def abort(self) -> None:
+		self._instance.Abort()
+	def pause(self) -> None:
+		self._instance.Pause()
+	def continue_(self) -> None:
+		self._instance.Continue()
+	def reset(self) -> None:
+		self._instance.Reset()
+	def read_error(self) -> ControllerErrorText:
+		return ControllerErrorText(self._instance.ReadError())
+	def set_u_frame_u_tool(self, uframe: int, utool: int) -> None:
+		self._instance.SetUFrameUTool(uframe, utool)
+	def get_status(self) -> ControllerStatus:
+		return ControllerStatus(self._instance.GetStatus())
+	def read_u_frame(self, number: int) -> IndexedFrame:
+		return IndexedFrame(self._instance.ReadUFrame(number))
+	def write_u_frame(self, number: int, frame: Frame) -> None:
+		self._instance.WriteUFrame(number, frame._instance if frame else None)
+	def read_u_tool(self, number: int) -> IndexedFrame:
+		return IndexedFrame(self._instance.ReadUTool(number))
+	def write_u_tool(self, number: int, frame: Frame) -> None:
+		self._instance.WriteUTool(number, frame._instance if frame else None)
+	def read_din(self, portNumber: int) -> DigitalInputValue:
+		return DigitalInputValue(self._instance.ReadDIN(portNumber))
+	def write_dout(self, portNumber: int, value: OnOff) -> None:
+		self._instance.WriteDOUT(portNumber, value)
+	def read_cartesian_position(self) -> CartesianPosition:
+		return CartesianPosition(self._instance.ReadCartesianPosition())
+	def read_joint_angles(self) -> JointAnglesSample:
+		return JointAnglesSample(self._instance.ReadJointAngles())
+	def set_override(self, value: int) -> None:
+		self._instance.SetOverride(value)
+	def get_u_frame_u_tool(self) -> UFrameUToolNumbers:
+		return UFrameUToolNumbers(self._instance.GetUFrameUTool())
+	def read_position_register(self, number: int) -> PositionRegisterData:
+		return PositionRegisterData(self._instance.ReadPositionRegister(number))
+	def write_position_register(self, number: int, cfg: MotionConfiguration, frame: Frame) -> None:
+		self._instance.WritePositionRegister(number, cfg._instance if cfg else None, frame._instance if frame else None)
+	def read_tcp_speed(self) -> TcpSpeed:
+		return TcpSpeed(self._instance.ReadTcpSpeed())
+	def wait_din(self, sequenceId: int, portNumber: int, value: OnOff) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.WaitDin(sequenceId, portNumber, value))
+	def set_u_frame_instruction(self, sequenceId: int, frameNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetUFrameInstruction(sequenceId, frameNumber))
+	def set_u_tool_instruction(self, sequenceId: int, toolNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetUToolInstruction(sequenceId, toolNumber))
+	def wait_time(self, sequenceId: int, seconds: float) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.WaitTime(sequenceId, seconds))
+	def set_payload(self, sequenceId: int, scheduleNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetPayload(sequenceId, scheduleNumber))
+	def linear_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.LinearMotion(sequenceId, config._instance if config else None, position._instance if position else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def linear_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.LinearRelative(sequenceId, config._instance if config else None, delta._instance if delta else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointMotion(sequenceId, config._instance if config else None, position._instance if position else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointRelative(sequenceId, config._instance if config else None, delta._instance if delta else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def circular_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, viaConfig: MotionConfiguration, viaPosition: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.CircularMotion(sequenceId, config._instance if config else None, position._instance if position else None, viaConfig._instance if viaConfig else None, viaPosition._instance if viaPosition else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def circular_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, viaConfig: MotionConfiguration, viaDelta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.CircularRelative(sequenceId, config._instance if config else None, delta._instance if delta else None, viaConfig._instance if viaConfig else None, viaDelta._instance if viaDelta else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_motion_j_rep(self, sequenceId: int, joints: JointAngles, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointMotionJRep(sequenceId, joints._instance if joints else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_relative_j_rep(self, sequenceId: int, deltaJoints: JointAngles, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointRelativeJRep(sequenceId, deltaJoints._instance if deltaJoints else None, speedType, speed, termType, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def dispose(self) -> None:
+		self._instance.Dispose()
+	@property
+	def read_timeout_ms(self) -> int:
+		return self._instance.ReadTimeoutMs
+	@property
+	def write_timeout_ms(self) -> int:
+		return self._instance.WriteTimeoutMs
+	@property
+	def connected(self) -> bool:
+		return self._instance.Connected
+	@property
+	def major_version(self) -> int:
+		return self._instance.MajorVersion
+	@property
+	def minor_version(self) -> int:
+		return self._instance.MinorVersion
+	@property
+	def working_port(self) -> int:
+		return self._instance.WorkingPort

underautomation/fanuc/rmi/internal/rmi_client_internal.py

@@ -0,0 +1,13 @@
+import typing
+from underautomation.fanuc.rmi.internal.rmi_client_base import RmiClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Internal import RmiClientInternal as rmi_client_internal
+
+class RmiClientInternal(RmiClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client_internal()
+		else:
+			self._instance = _internal

underautomation/fanuc/rmi/internal/rmi_connect_parameters_base.py

@@ -0,0 +1,36 @@
+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.Internal import RmiConnectParametersBase as rmi_connect_parameters_base
+
+class RmiConnectParametersBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_connect_parameters_base()
+		else:
+			self._instance = _internal
+	@property
+	def port(self) -> int:
+		return self._instance.Port
+	@port.setter
+	def port(self, value: int):
+		self._instance.Port = value
+	@property
+	def read_timeout_ms(self) -> int:
+		return self._instance.ReadTimeoutMs
+	@read_timeout_ms.setter
+	def read_timeout_ms(self, value: int):
+		self._instance.ReadTimeoutMs = value
+	@property
+	def write_timeout_ms(self) -> int:
+		return self._instance.WriteTimeoutMs
+	@write_timeout_ms.setter
+	def write_timeout_ms(self, value: int):
+		self._instance.WriteTimeoutMs = value
+
+RmiConnectParametersBase.defaul_t__port = RmiConnectParametersBase(rmi_connect_parameters_base.DEFAULT_PORT)
+
+RmiConnectParametersBase.defaul_t__rea_d__timeou_t__ms = RmiConnectParametersBase(rmi_connect_parameters_base.DEFAULT_READ_TIMEOUT_MS)
+
+RmiConnectParametersBase.defaul_t__writ_e__timeou_t__ms = RmiConnectParametersBase(rmi_connect_parameters_base.DEFAULT_WRITE_TIMEOUT_MS)

underautomation/fanuc/rmi/rmi_client.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.rmi.internal.rmi_client_base import RmiClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi import RmiClient as rmi_client
+
+class RmiClient(RmiClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client()
+		else:
+			self._instance = _internal
+	def connect(self, ip: str, port: int=16001, readTimeoutMs: int=3000, writeTimeoutMs: int=3000) -> None:
+		self._instance.Connect(ip, port, readTimeoutMs, writeTimeoutMs)

underautomation/fanuc/rmi/rmi_exception.py

@@ -0,0 +1,15 @@
+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 import RmiException as rmi_exception
+
+class RmiException:
+	def __init__(self, message: str, inner: typing.Any, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_exception(message, inner)
+		else:
+			self._instance = _internal
+	@property
+	def error_id(self) -> int:
+		return self._instance.ErrorId

underautomation/fanuc/snpx/assignment/integer_system_variables_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import IntegerSystemVariablesBatchAssignment as integer_system_variables_batch_assignment
+
+class IntegerSystemVariablesBatchAssignment(BatchAssignment2[int, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = integer_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[int]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/numeric_registers_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import NumericRegistersBatchAssignment as numeric_registers_batch_assignment
+
+class NumericRegistersBatchAssignment(BatchAssignment2[float, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = numeric_registers_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[float]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/position_registers_batch_assignment.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.common.position import Position
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import PositionRegistersBatchAssignment as position_registers_batch_assignment
+
+class PositionRegistersBatchAssignment(BatchAssignment2[Position, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = position_registers_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[Position]:
+		return [Position(x) for x in self._instance.Read()]

underautomation/fanuc/snpx/assignment/position_system_variables_batch_assignment.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.common.position import Position
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import PositionSystemVariablesBatchAssignment as position_system_variables_batch_assignment
+
+class PositionSystemVariablesBatchAssignment(BatchAssignment2[Position, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = position_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[Position]:
+		return [Position(x) for x in self._instance.Read()]

underautomation/fanuc/snpx/assignment/real_system_variables_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import RealSystemVariablesBatchAssignment as real_system_variables_batch_assignment
+
+class RealSystemVariablesBatchAssignment(BatchAssignment2[float, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = real_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[float]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/string_registers_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import StringRegistersBatchAssignment as string_registers_batch_assignment
+
+class StringRegistersBatchAssignment(BatchAssignment2[str, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = string_registers_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[str]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/string_system_variables_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import StringSystemVariablesBatchAssignment as string_system_variables_batch_assignment
+
+class StringSystemVariablesBatchAssignment(BatchAssignment2[str, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = string_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[str]:
+		return self._instance.Read()

underautomation/fanuc/snpx/internal/alarm_access.py

@@ -0,0 +1,14 @@
+import typing
+from underautomation.fanuc.snpx.internal.snpx_assignable_elements_2 import SnpxAssignableElements2
+from underautomation.fanuc.snpx.internal.robot_alarm import RobotAlarm
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import AlarmAccess as alarm_access
+
+class AlarmAccess(SnpxAssignableElements2[RobotAlarm, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = alarm_access()
+		else:
+			self._instance = _internal

underautomation/fanuc/snpx/internal/alarm_id.py

@@ -0,0 +1,102 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import AlarmId as alarm_id
+
+class AlarmId(int):
+	ACAL = alarm_id.ACAL
+	APPL = alarm_id.APPL
+	APSH = alarm_id.APSH
+	ARC = alarm_id.ARC
+	ASBN = alarm_id.ASBN
+	ATZN = alarm_id.ATZN
+	BBOX = alarm_id.BBOX
+	BRCH = alarm_id.BRCH
+	CALM = alarm_id.CALM
+	CD = alarm_id.CD
+	CMND = alarm_id.CMND
+	CNTR = alarm_id.CNTR
+	COMP = alarm_id.COMP
+	COND = alarm_id.COND
+	COPT = alarm_id.COPT
+	CPMO = alarm_id.CPMO
+	CUST = alarm_id.CUST
+	CVIS = alarm_id.CVIS
+	DIAG = alarm_id.DIAG
+	DICT = alarm_id.DICT
+	DMDR = alarm_id.DMDR
+	DMER = alarm_id.DMER
+	DNET = alarm_id.DNET
+	DTBR = alarm_id.DTBR
+	DX = alarm_id.DX
+	ELOG = alarm_id.ELOG
+	FILE = alarm_id.FILE
+	FLPY = alarm_id.FLPY
+	FORC = alarm_id.FORC
+	FRSY = alarm_id.FRSY
+	FXTL = alarm_id.FXTL
+	HOST = alarm_id.HOST
+	HRTL = alarm_id.HRTL
+	IBS = alarm_id.IBS
+	ICRZ = alarm_id.ICRZ
+	IFPN = alarm_id.IFPN
+	INTP = alarm_id.INTP
+	IRPK = alarm_id.IRPK
+	ISD = alarm_id.ISD
+	ISDT = alarm_id.ISDT
+	JOG = alarm_id.JOG
+	KALM = alarm_id.KALM
+	LANG = alarm_id.LANG
+	LECO = alarm_id.LECO
+	LNTK = alarm_id.LNTK
+	LSTP = alarm_id.LSTP
+	MACR = alarm_id.MACR
+	MARL = alarm_id.MARL
+	MASI = alarm_id.MASI
+	MCTL = alarm_id.MCTL
+	MEMO = alarm_id.MEMO
+	MOTN = alarm_id.MOTN
+	MUPS = alarm_id.MUPS
+	OPTN = alarm_id.OPTN
+	OS = alarm_id.OS
+	PALL = alarm_id.PALL
+	PALT = alarm_id.PALT
+	PICK = alarm_id.PICK
+	PMON = alarm_id.PMON
+	PNT1 = alarm_id.PNT1
+	PNT2 = alarm_id.PNT2
+	PRIO = alarm_id.PRIO
+	PROF = alarm_id.PROF
+	PROG = alarm_id.PROG
+	PWD = alarm_id.PWD
+	QMGR = alarm_id.QMGR
+	RIPE = alarm_id.RIPE
+	ROUT = alarm_id.ROUT
+	RPC = alarm_id.RPC
+	RPM = alarm_id.RPM
+	RTCP = alarm_id.RTCP
+	SCIO = alarm_id.SCIO
+	SDTL = alarm_id.SDTL
+	SEAL = alarm_id.SEAL
+	SENS = alarm_id.SENS
+	SHAP = alarm_id.SHAP
+	SPOT = alarm_id.SPOT
+	SPRM = alarm_id.SPRM
+	SRIO = alarm_id.SRIO
+	SRVO = alarm_id.SRVO
+	SSPC = alarm_id.SSPC
+	SVGN = alarm_id.SVGN
+	SYST = alarm_id.SYST
+	TAST = alarm_id.TAST
+	TCPP = alarm_id.TCPP
+	TG = alarm_id.TG
+	THSR = alarm_id.THSR
+	TJOG = alarm_id.TJOG
+	TMAT = alarm_id.TMAT
+	TOOL = alarm_id.TOOL
+	TPIF = alarm_id.TPIF
+	TRAK = alarm_id.TRAK
+	VARS = alarm_id.VARS
+	WEAV = alarm_id.WEAV
+	WNDW = alarm_id.WNDW
+	XMLF = alarm_id.XMLF

underautomation/fanuc/snpx/internal/alarm_severity.py

@@ -0,0 +1,17 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import AlarmSeverity as alarm_severity
+
+class AlarmSeverity(int):
+	NONE = alarm_severity.NONE
+	WARN = alarm_severity.WARN
+	PAUSE_L = alarm_severity.PAUSE_L
+	PAUSE_G = alarm_severity.PAUSE_G
+	STOP_L = alarm_severity.STOP_L
+	STOP_G = alarm_severity.STOP_G
+	SERVO = alarm_severity.SERVO
+	ABORT_L = alarm_severity.ABORT_L
+	ABORT_G = alarm_severity.ABORT_G
+	SERVO2 = alarm_severity.SERVO2
+	SYSTEM = alarm_severity.SYSTEM

underautomation/fanuc/snpx/internal/alarm_type.py

@@ -0,0 +1,8 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import AlarmType as alarm_type
+
+class AlarmType(int):
+	Active = alarm_type.Active
+	History = alarm_type.History

underautomation/fanuc/snpx/internal/assignment.py

@@ -0,0 +1,23 @@
+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.Snpx.Internal import Assignment as assignment
+
+class Assignment:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = assignment()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def offset(self) -> int:
+		return self._instance.Offset
+	@property
+	def is_assignment_cleared(self) -> bool:
+		return self._instance.IsAssignmentCleared
+	@property
+	def name(self) -> str:
+		return self._instance.Name

underautomation/fanuc/snpx/internal/assignment_1.py

@@ -0,0 +1,17 @@
+import typing
+from underautomation.fanuc.snpx.internal.assignment import Assignment
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import Assignment as assignment_1
+
+TIndex = typing.TypeVar('TIndex')
+class Assignment1(Assignment, typing.Generic[TIndex]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = assignment_1()
+		else:
+			self._instance = _internal
+	@property
+	def index(self) -> TIndex:
+		return self._instance.Index

underautomation/fanuc/snpx/internal/batch_assignment_2.py

@@ -0,0 +1,23 @@
+import typing
+from underautomation.fanuc.snpx.internal.assignment_1 import Assignment1
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import BatchAssignment as batch_assignment_2
+
+TValue = typing.TypeVar('TValue')
+TIndex = typing.TypeVar('TIndex')
+class BatchAssignment2(typing.Generic[TValue, TIndex]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = batch_assignment_2()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[TValue]:
+		return list(self._instance.Read())
+	@property
+	def assignments(self) -> typing.List[Assignment1]:
+		return [Assignment1(x) for x in self._instance.Assignments]
+	@assignments.setter
+	def assignments(self, value: typing.List[Assignment1]):
+		self._instance.Assignments = value

underautomation/fanuc/snpx/internal/current_position.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.common.position import Position
+from underautomation.fanuc.snpx.internal.snpx_assignable_elements_2 import SnpxAssignableElements2
+from underautomation.fanuc.snpx.internal.current_position_request import CurrentPositionRequest
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import CurrentPosition as current_position
+
+class CurrentPosition(SnpxAssignableElements2[Position, CurrentPositionRequest]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = current_position()
+		else:
+			self._instance = _internal
+	def read_world_position(self, group: int) -> Position:
+		return Position(None, None, None, None, self._instance.ReadWorldPosition(group))
+	def read_user_frame_position(self, userFrame: int, group: int) -> Position:
+		return Position(None, None, None, None, self._instance.ReadUserFramePosition(userFrame, group))

underautomation/fanuc/snpx/internal/current_position_request.py

@@ -0,0 +1,24 @@
+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.Snpx.Internal import CurrentPositionRequest as current_position_request
+
+class CurrentPositionRequest:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = current_position_request()
+		else:
+			self._instance = _internal
+	@property
+	def group(self) -> int:
+		return self._instance.Group
+	@group.setter
+	def group(self, value: int):
+		self._instance.Group = value
+	@property
+	def user_frame(self) -> int:
+		return self._instance.UserFrame
+	@user_frame.setter
+	def user_frame(self, value: int):
+		self._instance.UserFrame = value

underautomation/fanuc/snpx/internal/current_task_status.py

@@ -0,0 +1,14 @@
+import typing
+from underautomation.fanuc.snpx.internal.snpx_assignable_elements_2 import SnpxAssignableElements2
+from underautomation.fanuc.snpx.internal.robot_task_status import RobotTaskStatus
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import CurrentTaskStatus as current_task_status
+
+class CurrentTaskStatus(SnpxAssignableElements2[RobotTaskStatus, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = current_task_status()
+		else:
+			self._instance = _internal

underautomation/fanuc/snpx/internal/digital_signals.py

@@ -0,0 +1,29 @@
+import typing
+from underautomation.fanuc.snpx.internal.segment_selector import SegmentSelector
+from underautomation.fanuc.snpx.internal.segment_offset import SegmentOffset
+from underautomation.fanuc.snpx.internal.segment_name import SegmentName
+from underautomation.fanuc.snpx.internal.snpx_elements_2 import SnpxElements2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import DigitalSignals as digital_signals
+
+class DigitalSignals(SnpxElements2[bool, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = digital_signals()
+		else:
+			self._instance = _internal
+	def read(self, firstIndex: int, count: int) -> typing.List[bool]:
+		return self._instance.Read(firstIndex, count)
+	def write(self, firstIndex: int, values: typing.List[bool]) -> None:
+		self._instance.Write(firstIndex, values)
+	@property
+	def segment_selector(self) -> SegmentSelector:
+		return SegmentSelector(self._instance.SegmentSelector)
+	@property
+	def segment_offset(self) -> SegmentOffset:
+		return SegmentOffset(self._instance.SegmentOffset)
+	@property
+	def segment_name(self) -> SegmentName:
+		return SegmentName(self._instance.SegmentName)

underautomation/fanuc/snpx/internal/integer_system_variables.py

@@ -0,0 +1,14 @@
+import typing
+from underautomation.fanuc.snpx.internal.snpx_writable_assignable_elements_3 import SnpxWritableAssignableElements3
+from underautomation.fanuc.snpx.assignment.integer_system_variables_batch_assignment import IntegerSystemVariablesBatchAssignment
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Internal import IntegerSystemVariables as integer_system_variables
+
+class IntegerSystemVariables(SnpxWritableAssignableElements3[int, str, IntegerSystemVariablesBatchAssignment]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = integer_system_variables()
+		else:
+			self._instance = _internal