pyfanuc

focas fanuc protocol-analysis to python-source

samplescreens on raspberry and android

The python-source is based on protocol analysis. The problem is, that the Fanuc Focas Library does not have proper linux support. The current target platform for protocol-analysis is an EDM-machine with a 160 control and a Robodrill 30i.

"I need more generated protocols (wireshark) from another fanuc-machines."

implemented

function	description
getsysinfo	read sysinfos
readparam	read parameter(s)
readdiag	read diagnostic-value(s)
readmacro	read macro-value(s)
readpmc	read pmc-variables
readexecprog	execute linecode
readprognum	actual main/run program
readalarm	read alarm bitfield
readalarmcode	read alarm code/msg
settime	set date/time
listprog	listprograms
getprog	program read test (experimental)
readactfeed	actual feedrate
readactspindlespeed	actual spindlespeed
readaxis	actual axis-values
getdate	read date
gettime	read time
getdatetime	read date+time

control >= 30i

function	description
readdir_current	current directory
readdir_info	directory-info
readdir	read directory (one block)
readdir_complete	read complete directory
readprogname	read mainprogname with path

subfunctions

function	description
connect	connecting
disconnect	disconnecting
_req_rdsingle	capsulate single packet request
_req_rdmulti	capsulate single packets request
_req_rdsub	sub-packet-pack
encap	encapsulate packets
decap	decapsulate packets
_decode8	decode 8 byte values

Protocol samples

GETPMC VALUE D2204

Request

Header

Sync	Version	Request	Request length	Subpacket count
A0 A0 A0 A0	00 01	21 01	00 1e	00 01

Subpacket 1 (length=length+2)

Length	CNC/PMC	Func	int32	int32	int32	int32	int32
00 1c	00 02	00 01 80 01	00 00 08 9c	00 00 08 9d	00 00 00 09	00 00 00 01	00 00 00 00
	CNC=1/PMC=2		2204	2205	Memory Type (D)	Type (short)	flll

Data Type

Typ	Description
0	byte
1	short
2	int32

Memory Type

Typ		Description
0	G	uplink PMC to CNC
1	F	downlink PMC from CNC
2	Y	uplink PMC to Machine
3	X	downlink PMC from Machine
4	A	message
5	R	internal Relays
6	T	Timer
7	K	Keep relays
8	C	Counter
9	D	Data

Response

Header

Sync	Version	Response	Response length	Subpacket count
A0 A0 A0 A0	00 02	21 02	00 14	00 01

Subpacket 1

Length	CNC/PMC	Func	fill	Length payload	int16
00 12	00 02	00 01 80 01	6 x 00	00 02	02 58
	CNC=1/PMC=2			2	600

GETTIMEDATE Date 14.05.2020

Request

Header

Sync	Version	Request	Request length	Subpacket count
A0 A0 A0 A0	00 01	21 01	00 1e	00 01

Subpacket 1 (length=length+2)

Length	CNC/PMC	Func	int32	int32	int32	int32	int32
00 1c	00 01	00 01 00 45	00 00 00 00	00 00 00 00	00 00 00 00	00 00 00 00	00 00 00 00
	CNC=1/PMC=2		DATE=0/TIME=1

Response

Header

Sync	Version	Response	Response length	Subpacket count
A0 A0 A0 A0	00 02	21 02	00 1e	00 01

Subpacket 1

Length	CNC/PMC	Func	fill	Length payload	int16	int16	int16	fill
00 1c	00 01	00 01 00 45	6 x 00	00 0c	e4 07	05 00	0e 00	6 x XX
	CNC=1/PMC=2			12	2020	5	14

GETTIMEDATE Time 12:15:05

Request

Header

Sync	Version	Request	Request length	Subpacket count
A0 A0 A0 A0	00 01	21 01	00 1e	00 01

Subpacket 1 (length=length+2)

Length	CNC/PMC	Func	int32	int32	int32	int32	int32
00 1c	00 01	00 01 00 45	00 00 00 01	00 00 00 00	00 00 00 00	00 00 00 00	00 00 00 00
	CNC=1/PMC=2		DATE=0/TIME=1

Response

Header

Sync	Version	Response	Response length	Subpacket count
A0 A0 A0 A0	00 02	21 02	00 1e	00 01

Subpacket 1

Length	CNC/PMC	Func	fill	Length payload	fill	int16	int16	int16
00 1c	00 01	00 01 00 45	6 x 00	00 0c	6 x XX	00 0c	00 0f	00 05
	CNC=1/PMC=2			12		12	15	5

GETDIAG 980-981 for first Axis

Request

Header

Sync	Version	Request	Request length	Subpacket count
A0 A0 A0 A0	00 01	21 01	00 1e	00 01

Subpacket 1

Length	CNC/PMC	Func	int32	int32	int32	int32	int32
00 1c	00 01	00 01 00 30	00 00 03 d4	00 00 03 d5	00 00 00 01	00 00 00 00	00 00 00 00
	CNC=1/PMC=2		980	981	Axis 1

Response

Header

Sync	Version	Response	Response length	Subpacket count
A0 A0 A0 A0	00 02	21 02	00 62	00 01

Subpacket 1 (length=length+2)

Length	CNC/PMC	Func	fill	Length payload
00 60	00 01	00 01 00 30	6 x 00	00 50
	CNC=1/PMC=2			2x(4+2+2+MAX_AXISx4)=80

Diag-Value 980 [MAX_AXIS=8 Values]

Name	Axis	Datatype	int32	7 x int32
00 00 03 d4	00 01	00 02	ff f6 de aa	7 x 00 00 00 00
980	1	2-word	‭-598.358‬

Diag-Value 981 [MAX_AXIS=8 Values]

Name	Axis	Datatype	int32	7 x int32
00 00 03 d5	00 01	00 02	ff e2 62 6c	7 x 00 00 00 00
981	1	2-word	‭-1.940.884

Programmtransfer

getprog(self,name) ist the test-implementation for programm-transfer.

programtransfer-stream connects with a0 a0 a0 a0 00 01 01 01 00 02 00 01

controltransfer-stream (params etc.) connects with a0 a0 a0 a0 00 01 01 01 00 02 00 02

Start Transfer

Sync	Version	Request	Request length	unknown	zeroterm. Prognames
A0 A0 A0 A0	00 01	15 01	02 04	00 00 00 01	"O2200-O2200" 00 ..

Sync	Version	Response	Response length	unknown
A0 A0 A0 A0	00 02	15 02	02 01	..

if not exist

Receive block

Sync	Version	Response	Response length
A0 A0 A0 A0	00 02	16 04	00 00

if exist

Receive block

Sync	Version	Response	Response length	Programtext
A0 A0 A0 A0	00 02	16 04	05 00	..

Receive block

Sync	Version	Response	Response length	Programtext
A0 A0 A0 A0	00 02	16 04	05 00	... "%"

Transfer end

Sync	Version	Response	Response length
A0 A0 A0 A0	00 02	17 01	00 00

Stop Transfer

Sync	Version	Request	Request length
A0 A0 A0 A0	00 01	17 02	00 00

samples

sample on raspberry pi 2 only with python3 and without x86-emu/wine etc.

sample on Samsung A51 with Pydroid-Android

import pyfanuc conn=pyfanuc('192.168.0.61') if conn.connect(): print("connected") print('type:'+conn.sysinfo['cnctype'].decode()) print(conn.getdatetime()) print(conn.statinfo()) if conn.disconnect(): print("disconnected")