pyfocas

This project is a barebones reimplementation of the FANUC FOCAS protocol for communicating with a CNC machine.

It only uses UNIX sockets and sends the proper messages / packets instead of relying on vendor libraries.

Sources / Based On

This project relies on the reverse engineering of the FANUC FOCAS protocol by diohpix. The relevant library is pyfanuc.

This reimplementation of the protocol is currently the only way of reliably using FOCAS on a 64bit ARM (aarch64) system as no library for that architecture exists.

Protocol

The protocol is a big endian request-response protocol via UNIX sockets. A full message (either request or response) will be called packet. A packet has headers and at least one subpacket, which in turn consist of multiple blocks detailing the purpose of the packet.

Header

The header looks similar for request and response. A typical header contains the following blocks, with a block being a part of the header or subpacket:

NAME	Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
PURPOSE	Start of each packet	Server or Client	Open, Close, Other	Length of packet incl. subpackets	Number of subpackets
LENGTH	4 bytes	2 bytes	2 bytes	2 bytes	2 bytes

Sync Prefix marks the start of a packet and is always A0 A0 A0 A0.

Packet Origin marks if the packet is a request to the FOCAS server (00 01) or a response from it (different from 00 01).

Packet Type differentiates the packets between:

• Trying to open a connection to the FOCAS server:
  • Request: 01 01
  • Response: 01 02
• Trying to close the connection:
  • Request: 02 01
  • Response: 02 02
• Trying to execute a generic command:
  • Request: 21 01
  • Response: 21 02

There are other packet types as can be seen in diohpix/pyfanuc which are not covered in this project (yet).

Packet Length contains the total length of bytes coming after it, including the size of the Subpacket Count (2 bytes) and all the subpackets in bytes.

Note that this results in the Packet Length always being larger than the sum of all subpacket's Subpacket Length by exactly 2 bytes (size of the Subpacket Count).

Subpacket Count holds the number of subpackets in this packet.

Subpacket

Subpackets are of varying length and data types. There are some reused sizes and packing / types.

Default Payload: 5x 4-Byte INT32

The subpackets are always of length 1c / 28 bytes. They each contain three pieces of information about the subpacket totalling 8 bytes followed by a payload of 20 bytes which can be split into multiple regions.

NAME	Subpacket Length	Control Device	Function	Payload
PURPOSE	Length of the subpacket	CNC or PMC	Command to execute or which was executed.	Data transmittable via subpacket
LENGTH	2 bytes	2 bytes	4 bytes	20 bytes

Implemented Functions

Initialize Connection

This needs to be done to create the connection with the FOCAS server.

Request

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 01	01 01	00 02 (unclear reason)	00 02 (unclear reason)

Response

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 04	01 02	01 68 (unclear reason)	00 08 (unclear reason)

The response contains 360 Bytes of (as of yet) unclear subpacket content.

Status Info

Request

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 01	21 01	00 1E	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 1C	00 01	00 01 00 19	20 times 00

Response

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 04	21 02	00 20	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 1E	00 01	00 01 00 19	See _FOCAS_STATINFO_STRUCT

System Info

Request

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 01	21 01	00 1E	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 1C	00 01	00 01 00 18	20 times 00

Response

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 04	21 02	00 24	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 22	00 01	00 01 00 18	See _FOCAS_SYSINFO_STRUCT

Read Macro

Request

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 01	21 01	00 1E	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 1C	00 01	00 01 00 15	00 00 01 F6 00 00 01 F6 + 12x 00

This reads macro variable #502 (01 F6).

Response

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 04	21 02	00 1A	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 18	00 01	00 01 00 15	00 00 00 00 (Fill) 00 00 00 10 (#Bytes coming after this) 29 7C 1E 00 00 0A 00 06 (First 8-Byte Scaled Int) 05 F5 E1 00 00 0A 00 08 (Second 8-Byte Scaled Int)

Write Macro (Double)

Writes a macro variable with a double value (not scaled integer)

Request

Sync Prefix	Packet Origin	Packet Type	Packet Length	Subpacket Count
A0 A0 A0 A0	00 01	21 01	00 38	00 01

With the single subpacket being:

Subpacket Length	Control Device	Function	Payload
00 24	00 01	00 01 00 A8	00 00 01 F6 (Var. 502) 00 (12x Filling Bytes) 00 00 00 08 (#Bytes coming after this) 40 59 00 00 00 00 00 00 (Value as double)

This writes 100.0 to #502.

Development

Release

In the steps below we assume that you

• installed uv and just, and
• execute commands in the root of the repository.

Please replace <VERSION> with the version number of the package that you want to release (e.g. 0.2.0).

PyPI

To release a new version on PyPI please use the commands below:

just release <VERSION>

GitHub

Open the release notes for the latest version and create a new release:

1. Paste the release notes into the main text of the release web page
2. Insert the version number into the tag field
3. For the release title use “Version ”, where <VERSION> specifies the version number (e.g. “Version 0.2”)
4. Click on “Publish Release”

Note: Alternatively you can also use the gh command:

gh release create

to create the release.