# FOCAS

The FOCAS connector connects to FANUC CNC machines using FANUC's FOCAS protocol, allowing you to collect machine data by creating subscribe and read endpoints.

For a full list of connection and endpoint properties, see:

* [Connection Properties](/2-4-0/connectors/shop-floor-connectors/focas/focasconnection.md)
* [Endpoint Properties](/2-4-0/connectors/shop-floor-connectors/focas/focasendpoint.md)

## FOCAS Methods

The following methods are available. For full details of each method, consult the FANUC FOCAS documentation.

### Subscribe Methods

Define endpoints using these methods with the `subscribe` operation. Output is returned as a JSON object.

#### `cnc_exeprgname`

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

**Example output:**

{% code lineNumbers="true" %}

```json
{ "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" %}

```json
{ "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" %}

```json
{
  "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" %}

```json
{ "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" %}

```json
{
  "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" %}

```json
{ "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" %}

```json
{
  "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 the CNC system type, Machining (M) or Turning (T), the series and version of the CNC system software, and the number of controlled axes.

**Example output:**

{% code lineNumbers="true" %}

```json
{
  "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" %}

```json
{ "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

Define endpoints using these methods with the `read` operation. These methods require input on the request topic (`req`) and return output as a JSON object.

You can include a correlation `id` in the request payload to match responses to specific requests.

#### `program_download`

Downloads the specified NC data to the controller. Publish a valid G-code program (see [G-code on Wikipedia](https://en.wikipedia.org/wiki/G-code)) as the string value of the `value` key on the endpoint's request topic (`req`).

Format the program code string as follows before publishing:

1. Insert a leading line break `\n`. All data before it is ignored.
2. Replace all line breaks with `\n`.
3. Remove all space characters.
4. Remove all semicolons.

**Example: Raw G-code program**

{% code lineNumbers="true" %}

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

{% endcode %}

**Example: Formatted string to publish**

{% code lineNumbers="true" %}

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

{% endcode %}

The program is downloaded to the directory set as “Background Folder” in the FANUC controller.

**Example response**

{% code lineNumbers="true" %}

```json
{ "id": 1, "timestamp": 1637340781387 }
```

{% endcode %}

## Service Commissioning File Example

{% file src="/files/58IquuV3UErcgHnjGMLx" %}

{% 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 %}


---

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