Fanuc (Pro)

The Fanuc Interface component allows direct communication between Unity and FANUC industrial robots using the SNPX (Robot Interface / SRTP) protocol. It enables real-time control of robot drives, digital and analog I/O, and access to internal robot variables — supporting use cases like digital twins, simulation, and live operation.

Overview

This interface connects Unity to a FANUC controller over TCP/IP (default port 60008), allowing you to:

Read/write digital and analog signals
Track drive and axis positions

Requirements

To use the SNPX-based communication, your FANUC controller must support the Robot Interface protocol. This can be configured during workcell creation in ROBOGUIDE.

Enabling SNPX

You must enable one of the following options when setting up your virtual or physical controller:

R650 FRA Params:
- Select “FANUC America Corp.” in the Advanced tab of ROBOGUIDE’s Workcell Wizard (Step 7)
- Add option R553 – HMI Device SNPX
R651 FRL Params:
- Select “FANUC Ltd.” in the same Advanced tab
- No additional options required

Also ensure that:

TCP port 60008 (Robot IF Server) is open and accessible
The controller and Unity application are on the same network or subnet

Inspector Fields

Field	Description
Active	Enables or disables the interface
Is Connected	Shows live connection status with the controller
Address	IP address of the FANUC robot (e.g., `192.168.0.179`). For a ROBOGUIDE virtual robot on the same PC use `127.0.0.1`
Port	TCP port of the Robot IF (SNPX) server. Default `60008`. In a ROBOGUIDE multi-robot cell each virtual robot uses an incrementing port (robot 1 = `60008`, robot 2 = `60009`, …)
Drives	Assign Unity `Drive` components to robot axes (supports J1–J9)
Num Inputs / Outputs	Displays how many input/output signals are currently active
Thread Status	Indicates the state of the background communication thread
Connect Button	Triggers the connection process to the controller

Multiple Robots (ROBOGUIDE Multi-Robot Cell)

A ROBOGUIDE workcell with several robots on one PC shares a single IP address — each virtual robot gets its own incrementing Robot IF port instead. To simulate such a cell, add one Fanuc Interface per robot and set the Port accordingly:

Robot	Address	Port
Robot 1	`127.0.0.1`	`60008`
Robot 2	`127.0.0.1`	`60009`
Robot 3	`127.0.0.1`	`60010`

The exact port of each robot is listed in the services.txt file inside the corresponding robot_1, robot_2, … subfolder of your ROBOGUIDE workcell. Assign each robot’s axis Drive components to the Drives list of its own interface, and make sure SNPX (R553 / R651) is enabled on every virtual controller.

Because ROBOGUIDE and Unity run on the same PC, all communication goes over localhost — no network adapter, DHCP or subnet configuration is required. The 192.168.x.x address shown on the teach pendant is ROBOGUIDE-internal and does not need to match a physical adapter.

Signal Mapping

The Fanuc Interface uses string-based signal names to map FANUC robot I/O into Unity. These names follow a PREFIX + NUMBER format and are parsed automatically on startup.

Example of a configured digital output DO3

Supported Signal Prefixes

Prefix	Direction	Description
`DI`	Input	Device-level digital inputs
`DO`	Output	Device-level digital outputs
`UI`	Input	User-defined digital inputs
`UO`	Output	User-defined digital outputs
`RI`	Input	Remote robot digital inputs
`RO`	Output	Remote robot digital outputs
`SDI`	Input	Safety digital inputs
`SDO`	Output	Safety digital outputs
`WI`	Input	Welding-specific digital inputs
`WO`	Output	Welding-specific digital outputs
`AI`	Input	Analog integer inputs (e.g., sensor values)
`AO`	Output	Analog integer outputs (e.g., analog actuators)

Examples:

DO0 – Digital Output 0
UI5 – User Input 5
AO3 – Analog Output 3
WI2 – Welding Input 2

Signals are case-insensitive in Unity but are documented here in uppercase for clarity.