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, 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

You must define all endpoints utilizing these methods as endpoints with the read operation, since they require input to be provided on the request topic (req). The output will be provided as JSON object.

For read endpoints, you can include a correlation id in the payload of the request message to ensure 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

Open

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'