FOCAS

This module implements FANUC’s Focas protocol connectivity allowing the user to collect different data from a FANUC CNC machine.

This protocol implementation allows the communication to such devices and provides the user the ability to create endpoints for reading and subscribing for changes on the data provided by them.

Below you can see configuration parameters and examples on how to build a commissioning file for this protocol.

Connection Properties

Endpoint Properties

Focas Methods

Available Focas methods. For full details of each method please consult the Focas documentation.

Subscribe methods

All endpoints utilizing these methods have to be defined as endpoints with the subscribe operation. The output will be provided as JSON object.

cnc_exeprgname

Reads the full path name of the program which is currently being executed in CNC.

Example output:

{ 'id': 1, 'timestamp': 1637339279827, 'value': { 'name': 'SAMPLE', 'o_num': 0 } }

cnc_rdgcode

Reads the information of CNC about the commanded G code.

Required properties:

• type

• block

• numGcd

Example output:

{ 'id': 1, 'timestamp': 1637339824109, 'value': { 'code': 'G01', 'flag': 0, 'group': 0 } }

cnc_rdopnlsgnl

Reads the output signal image of software operator’s panel.

Required properties:

• slctData

Example output:

{
    'id': 1,
    'timestamp': 1637339309823,
    'value':
        {
            'blck_del': 0,
            'datano': 16723,
            'dry_run': 0,
            'feed_hold': 0,
            'feed_ovrd': 0,
            'hndl_ax': -1,
            'hndl_mv': 0,
            'jog_ovrd': 0,
            'machn_lock': 0,
            'mem_prtct': 0,
            'mode': 2,
            'rpd_ovrd': 0,
            'sngl_blck': 0,
            'spdl_ovrd': 0,
            'type': 32767,
        },
}

cnc_rdprgnum

Reads the program number (modal O number) of the program which is currently selected in CNC.

Example output:

{ 'id': 1, 'timestamp': 1637339187748, 'value': { 'data': 0, 'mdata': 0 } }

cnc_rdspeed

Reads the actual feed rate and the actual rotational speed of the main spindle.

Required properties:

• dataType

Example output:

{
    'id': 1,
    'timestamp': 1637339711053,
    'value':
        {
            'actf': { 'data': 1600, 'dec': 0, 'disp': 0, 'name': 'F', 'suff': "\u0000", 'unit': 0 },
            'acts': { 'data': 751, 'dec': 0, 'disp': 1, 'name': 'S', 'suff': ' ', 'unit': 2 },
        },
}

cnc_rdspload

Reads the load information of the serial spindle.

Required properties:

• spindleNumber

Example output:

{ 'id': 1, 'timestamp': 1637339785074, 'value': { 'data': [820, 19744, 12615, 23089, 14129, 12590, 13104, 0], 'datano': 1, 'type': 32 } }

cnc_statinfo2

Reads the status information of CNC.

Example output:

{
    'id': 1,
    'timestamp': 1637339042705,
    'value':
        {
            'alarm': 0,
            'aut': 1,
            'edit': 0,
            'emergency': 0,
            'ext_opt': 0,
            'hdck': 0,
            'motion': 1,
            'mstb': 0,
            'o3dchk': 0,
            'restart': 0,
            'run': 3,
            'tmmode': 0,
            'warning': 0,
        },
}

cnc_sysinfo

Reads system information such as kind of CNC system, Machining(M) or Turning(T), series and version of CNC system software and number of the controlled axes.

Example output:

{
    'id': 1,
    'timestamp': 1637339898044,
    'value': { 'addinfo': 2, 'axes': '03', 'cnc_type': '31', 'max_axis': 32, 'mt_type': ' M', 'series': 'G11Z', 'version': '17.1' },
}

pmc_rdpmcrng

Reads the PMC data of the specified PMC address/range.

Required properties:

• addressType

• dataType

• addressStart

• addressEnd

• dataLength

Example output:

{ 'id': 1, 'timestamp': 1637341486343, 'value': { 'cdata': [100, 51, 34, 44, 34], 'datano_e': 30, 'datano_s': 30, 'type_a': 0, 'type_d': 0 } }

Read methods

All endpoints utilizing these methods have to be defined as endpoints with the read operation since they require input provided on the request-topic (req). The output will be provided as JSON object.

For read endpoints, additionally a correlation ID (id) can be set in the payload of the request message, to ensure the correct identification of responses to specific requests.

program_download

Download the specified NC data to the controller. For this method, you will need to specify a valid G-code program (see e.g. https://en.wikipedia.org/wiki/G-code) in the message payload as string value of the value key and publish it on the endpoint’s request topic (req).

The program code string has to be formatted in a certain way to be processable by the method. To convert the program to this format the following steps have to be applied to the program code:

1. Insert a leading line break ; all data before that will be ignored

2. Replace all line breaks with

3. Remove all space characters

4. Remove all semicolons

The example code:

O1234 ;
G1 F0.3 W10. ;
M30 ;
%

would be converted to the string:

\nO1234\nG1F0.3W10.\nM30\n%

The program will be downloaded to the directory which is set as “Background Folder” in the Fanuc controller.

Example output:

{ 'id': 1, 'timestamp': 1637340781387 }

Service Commissioning File Example

1KB

focas-example.yml

focas-example.yml

description: >
    Sample Focas service commissioning file

metadata:
    name: Sample Focas service
    icon: https://www.cybus.io/wp-content/uploads/2017/10/for-whom1.svg
    provider: cybus
    homepage: https://www.cybus.io
    version: 1.0.0

parameters:
    focasHost:
        type: string
        default: 192.168.2.170

    focasPort:
        type: integer
        default: 8193

    initialReconnectDelay:
        type: integer
        default: 1000

    maxReconnectDelay:
        type: integer
        default: 30000

    factorReconnectDelay:
        type: integer
        default: 2

resources:
    focasConnection:
        type: Cybus::Connection
        properties:
            protocol: Focas
            connection:
                host: !ref focasHost
                port: !ref focasPort
                connectionStrategy:
                    initialDelay: !ref initialReconnectDelay
                    maxDelay: !ref maxReconnectDelay
                    incrementFactor: !ref factorReconnectDelay

    subscribeExample1:
        type: Cybus::Endpoint
        properties:
            protocol: Focas
            connection: !ref focasConnection
            subscribe:
                method: 'cnc_statinfo2'
                interval: 3000

    readExample1:
        type: Cybus::Endpoint
        properties:
            protocol: Focas
            connection: !ref focasConnection
            read:
                method: 'cnc_sysinfo'