Fanuc Roboguide

This page outlines the requirements and signal configuration for using a ROBOGUIDE workcell with a FANUC CRX-10iA/L robot as part of the Fanuc ModelZoo.

The setup enables real-time simulation of robot behavior within Unity using SNPX-based communication, synchronized with a simulated PLC-controlled conveyor.

Requirements

To enable communication between Unity and ROBOGUIDE using SNPX, your controller must support the Robot Interface (RobotIF / SRTP) protocol.

This is configured during the ROBOGUIDE workcell creation process.

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Enabling SNPX in ROBOGUIDE

During Step 7 (Robot Options) of the Workcell Wizard in ROBOGUIDE, select one of the following configurations:

Option 1: R650 FRA Params

• Select “FANUC America Corp.” in the Advanced tab
• Add robot option: R553 – HMI Device SNPX

Option 2: R651 FRL Params

• Select “FANUC Ltd.” in the Advanced tab
• No additional options required

Network Access

Ensure the following network conditions are met:

• TCP port 60008 (Robot IF Server) is open and accessible
• The Unity/realvirtual.io and the ROBOGUIDE controller must be on the same network or subnet

Signal Configuration

The interface between the robot and the simulated environment uses digital signals. These must be properly configured and exposed in both the Unity scene and ROBOGUIDE.

Outputs (From Robot → robot)

Signal Name	Type	Description
RobotIsLoading	DO1	Robot is loading the cell
RobotIsUnloading	DO2	Robot is unloading the cell
CloseGripper	DO3	Command to close the gripper

Inputs (From Unity / Conveyor → Robot)

Signal Name	Type	Description
StartLoading	DI1	Conveyor requests loading of the cell
StartUnloading	DI2	Machine requests unloading of the cell
GripperClosed	DI3	Sensor feedback: gripper is closed

Ensure these signals are defined in ROBOGUIDE’s I/O configuration and used in your Fanuc programm.