> For the complete documentation index, see [llms.txt](https://docs.cybus.io/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cybus.io/2-4-2/guides/machine-connectivity/cnc-machine-tools/connecting-a-fanuc-cnc-via-focas.md). # Connecting a FANUC CNC via FOCAS This guide shows you how to read machine status, program, spindle, and feed data from a FANUC CNC control with the Connectware [FOCAS connector](/2-4-2/connectors/shop-floor-connectors/focas.md) and map it into an ISA-95 style MQTT topic hierarchy. FOCAS is FANUC's library-based interface for accessing CNC data over Ethernet (FOCAS1/FOCAS2) and is available for common FANUC series such as the 30i/31i/32i and 0i series. The data collected here (run state, executed program, feed rate, spindle speed, and spindle load) is the typical input for machine monitoring, OEE dashboards, and condition monitoring applications. In more detail, the following topics are covered: * Understanding how the FOCAS connector addresses data through driver methods * Choosing the driver methods and polling intervals * Creating the [service commissioning file](/2-4-2/data-flows/service-commissioning-files.md) * Mapping the data into an ISA-95 style MQTT topic hierarchy * Reading data on demand with the request/response pattern * Verifying data in the [Data Explorer](/2-4-2/monitoring/data-explorer.md) This guide focuses on reading data from the machine. The connector can also write NC programs to the controller with the `program_download` method. For the complete method catalog, see the [FOCAS connector reference](/2-4-2/connectors/shop-floor-connectors/focas.md#focas-methods). A complete example file is available at the end of this guide. ## Prerequisites To follow this guide, you will need the following: * A running instance of Cybus Connectware. * A FANUC CNC control that is reachable over Ethernet from Connectware. The machine requires the FOCAS Ethernet function, which is an option on many machines. Your machine tool builder or FANUC can confirm whether it is installed on your control and provide the FANUC FOCAS documentation. The FOCAS interface listens on TCP port 8193 by default. * Access to the [Admin UI](/2-4-2/access/admin-ui.md) with sufficient [user permissions](/2-4-2/access/user-management.md). * Basic knowledge of MQTT and the Connectware [services](/2-4-2/data-flows/services.md) concept (for example, [service commissioning files](/2-4-2/data-flows/service-commissioning-files.md), [connections](/2-4-2/data-flows/service-commissioning-files/resources/cybus-connection.md), and [endpoints](/2-4-2/data-flows/service-commissioning-files/resources/cybus-endpoint.md)). ## How the FOCAS Connector Addresses Data Connectors such as Modbus/TCP or S7 address individual registers or variables. The FOCAS connector works differently: it provides a set of driver methods, and each method corresponds to a function of the FOCAS library that returns related CNC data as one structured JSON object. For example, `cnc_statinfo2` returns the automatic mode, run state, motion, alarm, and emergency stop information in a single result, and `cnc_rdspeed` returns the actual feed rate and the actual spindle speed together. You do not assemble memory addresses yourself; the driver maps each method to the underlying CNC data internally. The exception is `pmc_rdpmcrng`, which reads a Programmable Machine Controller (PMC) address range that you specify. An endpoint combines one method with one mode of operation: * **Subscribe**: Connectware calls the method in a fixed interval, or on a cron schedule, and publishes the result. This is the right mode for continuous monitoring and is the main pattern in this guide. * **Read**: Connectware exposes a request/response pattern over MQTT. A message on the endpoint's request topic triggers one method call, and the result is published on the response topic. This is the right mode for data that you only need on demand. Some methods require additional properties on the endpoint, for example the spindle number for `cnc_rdspload` or the data type selection for `cnc_rdspeed`. For all endpoint properties, see [Focas Endpoint Properties](/2-4-2/connectors/shop-floor-connectors/focas/focasendpoint.md). ## Choosing the FOCAS Methods This guide polls a set of methods that cover the most common machine monitoring needs. The polling interval is a trade-off between data freshness and load on the control: fast-changing process values get short intervals, while static information gets long ones. The minimum polling interval is 500 ms. | Method | Data | Poll interval | | ---------------- | ------------------------------------------------------------------------------- | ------------: | | `cnc_sysinfo` | Static system information such as the CNC type, series, version, and axis count | 60000 ms | | `cnc_statinfo2` | Status information such as mode, run state, motion, alarm, and emergency stop | 3000 ms | | `cnc_exeprgname` | Full path name of the program which is currently being executed | 5000 ms | | `cnc_rdspeed` | Actual feed rate and actual rotational speed of the main spindle | 2000 ms | | `cnc_rdspload` | Load information of the serial spindle | 2000 ms | The connector provides further methods, for example `cnc_rdprgnum` for the selected program number, `cnc_rdgcode` for the commanded G code, `cnc_rdopnlsgnl` for the signals of the software operator's panel, and `pmc_rdpmcrng` for PMC data. For the full list with example outputs, see [FOCAS Methods](/2-4-2/connectors/shop-floor-connectors/focas.md#focas-methods). ## Writing the Service Commissioning File The service commissioning file contains all connection and mapping details. Do not worry about copying the snippets together into one file, the complete example file is available at the end of this guide. ### Description and Metadata These sections contain general information about the service commissioning file. Only the metadata name is required. {% code lineNumbers="true" %} ```yaml description: > Service commissioning file that reads status, program, spindle, and feed data from a FANUC CNC control with the FOCAS connector and maps it into an ISA-95 style MQTT topic hierarchy (Example) metadata: name: FANUC FOCAS Example provider: cybus homepage: https://www.cybus.io version: 1.0.0 ``` {% endcode %} ### Parameters and Definitions We define the network address of the machine as parameters, so you can set them when you install the service. The default FOCAS port is 8193. The MQTT topics in this guide follow an ISA-95 style equipment hierarchy (`////`). We define the prefix once in the `definitions` section and reuse it in every mapping with `!sub`. {% code lineNumbers="true" %} ```yaml parameters: focasHost: description: Hostname or IP address of the FANUC CNC type: string default: 192.168.1.100 focasPort: description: TCP port of the FOCAS Ethernet interface type: integer default: 8193 definitions: MQTT_TOPIC_PREFIX: enterprise/hamburg/machining/line-1/cnc-02 ``` {% endcode %} ### Cybus::Connection The connection resource establishes the connection to the FOCAS Ethernet interface of the CNC. FOCAS does not use a username or password; the host and port are sufficient. If a connection attempt fails, the connector retries with an increasing delay that you can tune with the `connectionStrategy` property. For all connection properties, see [Focas Connection Properties](/2-4-2/connectors/shop-floor-connectors/focas/focasconnection.md). {% code lineNumbers="true" %} ```yaml resources: focasConnection: type: Cybus::Connection properties: protocol: Focas targetState: connected connection: host: !ref focasHost port: !ref focasPort ``` {% endcode %} ### Cybus::Endpoint Each endpoint polls one driver method. The `method` property selects the driver method, and `interval` sets the polling frequency in milliseconds according to the table in [Choosing the FOCAS Methods](#choosing-the-focas-methods). Two of the endpoints carry method-specific properties: `dataType: -1` makes `cnc_rdspeed` return the feed rate and the spindle speed in one call, and `spindleNumber` selects the spindle that `cnc_rdspload` reads. {% code lineNumbers="true" %} ```yaml systemInfo: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_sysinfo interval: 60000 statusInfo: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_statinfo2 interval: 3000 executedProgramName: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_exeprgname interval: 5000 feedAndSpindleSpeed: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_rdspeed dataType: -1 interval: 2000 spindleLoad: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_rdspload spindleNumber: 1 interval: 2000 ``` {% endcode %} ### Cybus::Mapping The mapping publishes each endpoint on a topic of the ISA-95 hierarchy. {% code lineNumbers="true" %} ```yaml mapping: type: Cybus::Mapping properties: mappings: - subscribe: endpoint: !ref systemInfo publish: topic: !sub '${MQTT_TOPIC_PREFIX}/machine/info' - subscribe: endpoint: !ref statusInfo publish: topic: !sub '${MQTT_TOPIC_PREFIX}/machine/status' - subscribe: endpoint: !ref executedProgramName publish: topic: !sub '${MQTT_TOPIC_PREFIX}/program/name' - subscribe: endpoint: !ref feedAndSpindleSpeed publish: topic: !sub '${MQTT_TOPIC_PREFIX}/process/speed' - subscribe: endpoint: !ref spindleLoad publish: topic: !sub '${MQTT_TOPIC_PREFIX}/spindle/load' ``` {% endcode %} With this mapping, the machine status is published on the topic `enterprise/hamburg/machining/line-1/cnc-02/machine/status`, and every other method result follows the same pattern. ## Reading Data on Demand Data that you only need occasionally does not have to be polled. An endpoint with the `read` operation subscribes to a request topic ending in `req` and publishes the result on the corresponding response topic ending in `res`: {% code lineNumbers="true" %} ```yaml systemInfoOnDemand: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection read: method: cnc_sysinfo ``` {% endcode %} Publish a message on the request topic to trigger one method call. You can include a correlation `id` in the request payload to match responses to specific requests; the response carries the same `id`. ## Installing the Service Commissioning File 1. Install the service commissioning file. See [Installing Services](/2-4-2/data-flows/services/managing/installing.md). 2. Enable the service. See [Enabling Services](/2-4-2/data-flows/services/managing/enabling.md). **Result:** The service is enabled. Connectware connects to the FOCAS interface of the CNC and starts polling the configured methods. ## Verifying the Data Open the [Data Explorer](/2-4-2/monitoring/data-explorer.md) and subscribe to `enterprise/hamburg/machining/line-1/cnc-02/#`. Each topic carries a JSON object with a `timestamp` and a `value` key, where the value holds the result object of the driver method. For example, the feed rate and spindle speed: {% code lineNumbers="true" %} ```json { "id": 1, "timestamp": 1784194200354, "value": { "actf": { "data": 1600, "dec": 0, "disp": 0, "name": "F", "suff": "�", "unit": 0 }, "acts": { "data": 751, "dec": 0, "disp": 1, "name": "S", "suff": " ", "unit": 2 } } } ``` {% endcode %} A few plausibility checks for the first readings: * The `name` on the `program/name` topic matches the program shown on the CNC display. * On the `machine/status` topic, the `run` value changes when you start or stop a program, and `alarm` and `emergency` are 0 during normal operation. * On the `process/speed` topic, the `acts.data` value (spindle speed S) is 0 while the spindle is stopped, and the `actf.data` value (feed rate F) follows the commanded feed while machining. If the connection does not reach the **Connected** state, verify that the FOCAS Ethernet function is installed and configured on the CNC, that the host address is correct, and that the port (8193 by default) is reachable from Connectware. The connector retries failed connection attempts automatically according to its `connectionStrategy` settings. ## Service Commissioning File Example {% file src="/files/F7H7W4VKlaTPfc9tuKF3" %} {% code title="fanuc-focas-example.yml" lineNumbers="true" expandable="true" %} ```yaml --- # ---------------------------------------------------------------------------- # Service Commissioning File # ---------------------------------------------------------------------------- # Copyright: Cybus GmbH # Contact: support@cybus.io # ---------------------------------------------------------------------------- # Connecting a FANUC CNC via FOCAS (Example) # ---------------------------------------------------------------------------- description: > Service commissioning file that reads status, program, spindle, and feed data from a FANUC CNC control with the FOCAS connector and maps it into an ISA-95 style MQTT topic hierarchy (Example) metadata: name: FANUC FOCAS Example provider: cybus homepage: https://www.cybus.io version: 1.0.0 parameters: focasHost: description: Hostname or IP address of the FANUC CNC type: string default: 192.168.1.100 focasPort: description: TCP port of the FOCAS Ethernet interface type: integer default: 8193 definitions: # ISA-95 style topic prefix: //// MQTT_TOPIC_PREFIX: enterprise/hamburg/machining/line-1/cnc-02 resources: # Connection to the FOCAS Ethernet interface of the CNC focasConnection: type: Cybus::Connection properties: protocol: Focas targetState: connected connection: host: !ref focasHost port: !ref focasPort # Static system information: CNC type, series and version, controlled axes systemInfo: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_sysinfo interval: 60000 # Status information: mode, run state, motion, alarm, emergency stop statusInfo: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_statinfo2 interval: 3000 # Full path name of the program currently being executed executedProgramName: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_exeprgname interval: 5000 # Actual feed rate (F) and actual speed of the main spindle (S) # dataType -1 reads both values in one call feedAndSpindleSpeed: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_rdspeed dataType: -1 interval: 2000 # Load information of the serial spindle spindleLoad: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection subscribe: method: cnc_rdspload spindleNumber: 1 interval: 2000 # On-demand read with the request/response pattern: # publish a message on the "req" topic, receive the result on "res" systemInfoOnDemand: type: Cybus::Endpoint properties: protocol: Focas connection: !ref focasConnection read: method: cnc_sysinfo mapping: type: Cybus::Mapping properties: mappings: - subscribe: endpoint: !ref systemInfo publish: topic: !sub '${MQTT_TOPIC_PREFIX}/machine/info' - subscribe: endpoint: !ref statusInfo publish: topic: !sub '${MQTT_TOPIC_PREFIX}/machine/status' - subscribe: endpoint: !ref executedProgramName publish: topic: !sub '${MQTT_TOPIC_PREFIX}/program/name' - subscribe: endpoint: !ref feedAndSpindleSpeed publish: topic: !sub '${MQTT_TOPIC_PREFIX}/process/speed' - subscribe: endpoint: !ref spindleLoad publish: topic: !sub '${MQTT_TOPIC_PREFIX}/spindle/load' ``` {% endcode %} {% hint style="info" %} Disclaimer: FANUC and FOCAS are trademarks or registered trademarks of FANUC Corporation. {% endhint %} --- # Agent Instructions This documentation is published with GitBook. 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