# 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](https://docs.cybus.io/2-0-6/documentation/industry-protocol-details/focas/focasconnection)

[Endpoint Properties](https://docs.cybus.io/2-0-6/documentation/industry-protocol-details/focas/focasendpoint)

## 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:**

{% code lineNumbers="true" %}

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

{% endcode %}

**cnc\_rdgcode**

Reads the information of CNC about the commanded G code.

**Required properties:**

* `type`
* `block`
* `numGcd`

**Example output:**

{% code lineNumbers="true" %}

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

{% endcode %}

**cnc\_rdopnlsgnl**

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

**Required properties:**

* `slctData`

**Example output:**

{% code lineNumbers="true" %}

```yaml
{
  '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,
    },
}
```

{% endcode %}

**cnc\_rdprgnum**

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

**Example output:**

{% code lineNumbers="true" %}

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

{% endcode %}

**cnc\_rdspeed**

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

**Required properties:**

* `dataType`

**Example output:**

{% code lineNumbers="true" %}

```yaml
{
  '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 },
    },
}
```

{% endcode %}

**cnc\_rdspload**

Reads the load information of the serial spindle.

**Required properties:**

* `spindleNumber`

**Example output:**

{% code lineNumbers="true" %}

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

{% endcode %}

**cnc\_statinfo2**

Reads the status information of CNC.

**Example output:**

{% code lineNumbers="true" %}

```yaml
{
  '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,
    },
}
```

{% endcode %}

**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:**

{% code lineNumbers="true" %}

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

{% endcode %}

**pmc\_rdpmcrng**

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

**Required properties:**

* `addressType`
* `dataType`
* `addressStart`
* `addressEnd`
* `dataLength`

**Example output:**

{% code lineNumbers="true" %}

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

{% endcode %}

#### 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:

{% code lineNumbers="true" %}

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

{% endcode %}

would be converted to the string:

{% code lineNumbers="true" %}

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

{% endcode %}

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

**Example output:**

{% code lineNumbers="true" %}

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

{% endcode %}

## Service Commissioning File Example

{% file src="<https://639096190-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FfDpOJO2upcq5EpoSahvK%2Fuploads%2Fgit-blob-a383d3d5bb8db7bd348ad65fec1d937b13fc7f8e%2Ffocas-example.yml?alt=media>" %}

{% code title="focas-example.yml" lineNumbers="true" %}

```yaml
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'
```

{% endcode %}