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")