Can those code have function to write PR registers?

[lohanlou]

I did not find any sample use.
Even assign PR[X]=value, the value can not be passed.

[Palatis]

yes you can.

PR[] variables are actually SNPX byte array instead of a scalar value (unlike DIO and GIO, thus it's implemented in the extended interface.

var robot = new RobotIF(...); // the basic robot interface instance
var robotx = new ExRobotIf(robot); // extended robot interface instance
var pos = new Position(...); // the target position
var index = 123; // target PR index
robotx.PR[index] = pos; // write the value

if you do not want to use the extended interface, consult

Fanuc.RobotInterface/Fanuc.RobotInterface/ExRobotIF.Registers.cs

Lines 42 to 66 in bc8a368

	private class RobotPositionRegisterHolder : RobotRegisterHolderBase<Position>
	{
	public RobotPositionRegisterHolder(IExRobotIF robot, int index) :
	base(robot, index)
	{
	}
	public override void WriteAssignment() => Offset = Robot.WriteAssignment(50, $"PR[{Index}] 0.0");
	protected override void WriteValue(Position value)
	{
	if (value.Cartisian != null)
	{
	Robot.WriteSNPX(Offset, PositionConverter.GetBytes(value));
	}
	else if (value.Joint != null)
	{
	Robot.WriteSNPX(Offset + 26, PositionConverter.GetBytes(value));
	}
	else
	throw new NotImplementedException();
	}
	protected override Position ReadValue() => Offset == -1 ? null : PositionConverter.ToPosition(Robot.ReadSNPX(Offset, 100));
	}

for how to do that manually.
tedious task, trust me.

there are some limitations about SNPX, writing byte-array to the device is broken into mutiple commands, thus the helper thread is there:

Fanuc.RobotInterface/Fanuc.RobotInterface/ExRobotIF.cs

Lines 79 to 119 in bc8a368

	_WatcherThread = new Thread(() =>
	{
	#if DEBUG
	var sw1 = Stopwatch.StartNew();
	var sw2 = new Stopwatch();
	var i = 0;
	#endif
	while (_Robot.IsConnected)
	{
	try
	{
	#if DEBUG
	++i;
	sw2.Start();
	#endif
	foreach (var v in AllWritableSignals)
	v.PushValue();
	foreach (var v in AllReadableSignals)
	v.PullValue();
	#if DEBUG
	sw2.Stop();
	if (sw1.ElapsedMilliseconds > 1000)
	{
	Debug.WriteLine($"{i} updates took {sw2.ElapsedMilliseconds}ms, average = {sw2.ElapsedMilliseconds / i}ms");
	sw1.Reset();
	sw2.Reset();
	sw1.Start();
	i = 0;
	}
	#endif
	}
	catch
	{
	Disconnect();
	}
	}
	});
	_WatcherThread.Start();