# 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**.

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### 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.