Category Archives: FANUC

The Path to Connected Machines

Could you run your business without email? It’s an easy question to answer today, but could you have answered the same question as easily in 1994 before email exploded and became commonplace? The same is true with much of the technological advancement of this century; the PC, the cell phone, the smartphone. Many managers will remember desperately trying to justify Blackberry smart phones for mobile workforces. Unfortunately, the advantages sermonized by these managers largely fell on deaf ears as the return on investment wasn’t clear in the early days. Years later the smartphone is equally as important as eye glasses to some people, not being able see without either of them. However, many would still be challenged to put a dollar value to the benefit that the smart phone brings. The emerging technologies in manufacturing are of the same creed.

    Certainly connected machines will change the way products are manufactured just as the PC and smartphone have changed the way businesses run.

The quickly attainable result and arguably the reason every machine should be connected today is to replace inefficient manual processes. In many machining factories, line supervisors are sent out three times a day to collect parts counts with a clipboard. The collected count is transferred to an excel spreadsheet which in turn is used to evaluate the output of the machine and production line. Additionally, when a machine breaks the operator must search out the line supervisor who invariably files a maintenance requisition to notify the maintenance department. These manual processes that happen regularly within machining factories can be automated on networked machines which quickly improves both the accuracy and the speed of the process. Finally, in collecting the parts count and machine status information and combining it with quality reports, we can understand the operational efficiency per machine and identify production issues.

Although the low hanging fruit is simply collecting and reporting data that is manually being complied today, it is not the greatest benefit to most organizations and certainly not the endpoint. Instead it is the starting point which validates running copper to each machine and investing in infrastructure to support a connected factory. The greater benefits are realized after the data is being collected. For example, ERP systems are common place and allow employees to process business transactions in an auditable way. By connecting machines to ERP systems it provides visibility to inbound, outbound and in process inventory levels, demand vs. production rates and actual vs. quoted cost. With this high level of visibility in both process and accounting more accurate information can be shared with customers, and better decisions can be made by all stakeholders.

As demonstrated above, it doesn’t require a leap of faith to realize the immediate benefits of connected machines. Common sense and planning will shift the production floor to a connected version of its former self that provides ample visibility to make more informed decisions. The next evolution beyond data gathering further leverages the data produced. The databases that store all of the historical data from the machines will be analyzed using any number of business intelligence (BI) software solutions. The very active market for BI software has incredibly versatile features such as natural language query, automated insights, trend analysis, outlier identification, dashboard, reporting, and so on. The data analysis will become a regular if not daily process on the shop floor as it is the most effective way to both generate and answer questions about the parts, process and business. The connected machines have closed the continuous improvement loop with incredible accuracy and speed.

One of the most ambitious views of a connected factory is the absence of people as machines speak directly to other machines to control the manufacturing process. Although this dystopian version of a connected factory has roots in reality the ultimate efficacy has yet to be proven. Instead, CMM machines or gauges that update CNC machines free operators to evaluate issues with the tooling which results in fewer scrap pieces and a more satisfying purpose for the operator. Cameras that track parts throughout the process and prevent running a tap without confirming the drill operation is complete reduce tedious rework and subsequent tool repair. A fork lift operator can plan the best route based on actual parts accumulation fed directly to the vehicle thereby reducing the miles she must drive. When machines are connected all stakeholders benefit, including shop floor team members.

As machines are connected to sate the flow of data for factory processes we can then start integrating statistical analytics and really elevate the value in connected machines. Techniques long used in analyzing financial markets and weather systems are adapted and used to quantify the mechanical conditions in a machine and predict mechanical failures. Parts quality indicators can be measured during machining and the statistical probability of good vs a bad part instantly actioned upon. Separated by only one degrees of complexity from statistical analysis is machine learning which when employed can predict a failed electrical or mechanical component, accurately predict why a machine is down, and ultimately learn the best control algorithm for producing the most accurate part in the quickest manner. Importantly, artificial intelligence isn’t just science fiction. All of these pieces of a connected factory exist and are deployed today. The technology and skill set has just reached a point where it is accessible en masse.

Connected machines will invariably change the way products are manufactured. Understandably the investment in a connected factory needs to be justified and carefully navigated; however, you don’t need to look past the smart phone you carry to see the importance of a connected factory.

MTConnect Agent – FANUC Macro Variables

Macro variables are used in just about every shop process because of their flexibility and utility.  Being able to read them is a critical part of any data collection system.  As MTConnect focuses on standardization, the variables are excluded.  It is however simple to add them to any MTConnect connection to a FANUC CNC control.  Once the Adapter is setup to read macro variables ( see tutorial here) It’s time to setup the Agent.

The MTConnect agent setup is surprisingly simple.  Almost too simple.  Initially I struggled for hours trying to learn and understand how to extend the agent schema files to accept the macro variables.  I used this tutorial here as a base.  It turns out the only necessary step is to add the following line to the device xml file…


<DataItem type="VARIABLE" category="EVENT" id="mc1" name="whale">

That’s it…  That’s That and That’s all.  The type and id can be anything you like.  In this example I’ve used VARIABLE” and “mc1“.  The agent simply matches the value of the name property, with the matching name that is output from the adapter. 


port = 7878
service = MTC Focus 1

host =

whale = 500

SspeedOvr = 30
Fovr = 12

Macro variable 500 is tied to  the name “whale” at the adapter.  The agent matches the name “whale” and continues to pass it on to the client.

macro screen

Too easy.

MTConnect Blog Posts

MTConnect Links

As the number of posts increases, some are getting lost.  Just to keep things organized here is a list of posts grouped by topic.




MTConnect FANUC Adapter on Ubuntu Linux

MTConnect Adapter for Windows

MTConnect FANUC Adapter PMC Addresses

MTConnect-FANUC Macro Variables


MTConnect Agent on Ubuntu Linux

MTConnect Agent – FANUC Macro Variables


This would be a great place to make any requests for tutorials or posts.  I’m happy to entertain.  Of course the target should be MTConnect :)

MTConnect – FANUC Macro Variables

Updating the FANUC Adpater for Stable Macro Variables

The current edition of the FANUC MTConnect adapter as of this writing was unstable on my platform.  Any time a macro variable was entered in the adapter.ini file, the adapter crashed shortly after connection.  This seems to be related to threading and access to the datum.  To rectify this I rewrote the getMacros() function of fanuc_adapater.  It no longer supports the multipath macro’s and is less efficient, however it works consistently without any errors.  Additionally, I was feeling lazy and included the <math.h> header to properly calculate the decimal point in the variable.

fanuc_adapter.cpp,  rewritten getMacros():

#include <math.h>
 void FanucAdapter::getMacros()
    if (!mConnected)
    for (int i = 0; i < mMacroSampleCount; i++)
       ODBM macro;
       short ret = cnc_rdmacro(mFlibhndl, mMacroSample[i]->getNumber(), sizeof(ODBM), &macro);
       if (ret == EW_OK)
          double rational = macro.mcr_val;
          double decimal = macro.dec_val;
          double exp = pow( 10, decimal );
          double resultant = rational / exp;
          printf("Could not retrieve PMC data at %d for %s: %d\n", mMacroSample[i], mMacroSample[i]->getNumber(), ret);

Now if we put a macro variable in the adapter.ini file as such:


port = 7878
service = MTC Focus 1
host =
whale = 500
cabbage = 501
SspeedOvr = 30
Fovr = 12

the adapter will correctly pass on the named macro variables:


2014-07-14T17:04:00.057Z|avail|AVAILABLE|part_count|7|whale|1.23456789|cabbage|2|SspeedOvr|0|Fovr|0|turkey|0|tool_id|0|program|3.0|line|0|block|O0000%|path_feedrate|0|path_position|0.0000000000 0.0000000000 0.0000000000|active_axes|X Y Z|mode|MANUAL_DATA_INPUT



2014-07-14T17:04:00.057Z|logic|FAULT|100|||PARAMETER ENABLE SWITCH ON

Which matches our FANUC FS0iD control:

macro screen

Cool Eh?  Macro variables are a critical part of any modern CNC shop, and being able to read them via MTConnect opens tremendous possibilities.  Custom parts counts can be made, operation conditions can be read,  etc.  The possibilities are endless.

MTConnect FANUC Adapter PMC Addresses

The current version of FANUC MTConnect adapter only supports PMC G address.  From a standardization point of view this is a great decision. The other PMC addresses including R,K,D,C and T are used by the machine tool builders and are assigned differently between machines.  Conversely the G Addresses are defined by FANUC and consistent between machines.  However, in practical terms, much can be gleaned about the machine condition through these addresses when customized to the machine.  With just a small modification to the existing FANUC MTConnect adapter, it can support all addresses.

By default, the addresses are defined in the adapter.ini file under the [pmc] section.  The sample adapter.ini file has two addresses mapped, G12-Feedrate override and

Firstly, the source file fanuc_adapter.cpp has one line of code that reads pmc addresses over FOCAS.  The FOCAS call expects the address type as an integer, G=0, F=1, Y=2, X=3, and so on.  In order to read addresses other than G we will need to specify the address.  The easiest was to achieve this is to pass an append the integer of the address to the front of the address.  For example, pmc address Y0078 would become 20078.  Then it’s just a simple matter of separating the prefix from the address.  Additionally, the orginal adapter incorrectly handles a negative value.  The code below is correct so the PMC address is reported properly if it is negative return. Here is the code:

void FanucAdapter::getPMC()
 if (!mConnected)
 for (int i = 0; i &lt; mPMCCount; i++)
 // Seperate the data type
 int pmcType = mPMCAddress[i]/10000;
 int pmcAddress = mPMCAddress[i]%10000;
 short ret = pmc_rdpmcrng(mFlibhndl, pmcType, 0 /* byte */,
 pmcAddress, pmcAddress, 8 + 1,
 if (ret == EW_OK)
 if (buf.u.cdata[0] < 0)
 mPMCVariable[i]->setValue(-buf.u.cdata[0] + 128);
 printf("Could not retrieve PMC data at %d for %s: %d\n",
 mPMCAddress[i], mPMCVariable[i]->getName(), ret);

Now that the source code will properly read any PMC address, we just need to modify the addresses in the adapter.ini file as below:

port = 7878
service = MTC Focus 1
host =
# PMC Types G=0, F=1, Y=2, X=3, A=4, R=5, T=6, K=7, C=8, D=9
# PMC Address G22 would by 00022, R99 would be 50099 etc.
SspeedOvr = 00030
Fovr = 00012
turkey = 50033

This creates the following stream output from the MTConnect FANUC adapter:  Address R33 was 10000000 in binary, which correctly output as turkey|127 in decimal.

output of adapter at  http://some.ip.address:7878/
2014-07-10T15:12:52.633Z|part_count|7|SspeedOvr|0|Fovr|0|turkey|127|tool_id|0|program|3.0|line|0|block|O0000%|path_feedrate|0|path_position|0.0000000000 0.0000000000 -0.0010000000|mode|MANUAL_DATA_INPUT
2014-07-10T15:12:52.633Z|logic|FAULT|100|||PARAMETER ENABLE SWITCH ON

That’s it.  This same procedure will work for all controls including the FANUC FS30/31/32 and FS16/18/21 controls.  However, the address to number conversions may have to be re-arranged.

If you use this post please write a comment below.  Thanks.

MTConnect for FANUC Overview



When first starting developing with MTConnect all of the pieces can be very overwhelming.  I thought it might be helpful to break down the pieces and the connection between them.  Even though the MTConnect Adapter for FANUC and the MTConnect agent are complete from the GitHub repository, when developing client applications or setting up the pieces an overview is helpful.


Click the picture for a larger view


Setting up MTConnect starts at the FANUC control.  The control must have an Ethernet connection and the optional FOCAS function.  Most modern controls have FOCAS available from the factory via an embedded Ethernet port on the main board of the CNC control.  Check this blog post here to setup the FOCAS connection.

The adapter and agent are best run on a server based on either Linux or Microsoft Windows.  Additionally, running the adapter on a low cost Linux platform located directly in the CNC can help reduce server and network load.


The FANUC control only speaks FOCAS, a very robust and powerful API that personal computers use to read and write information on the CNC.  The MTConnect adapter does all the heavy lifting and converts FOCAS to an MTConnect data stream.   The adapter streams data to the agent via http protocol which is human readable from Internet Explorer.  Here is the sample output from the FANUC adapter:  http://adapter.ip.address:7878/



As all of the pieces of MTConnect are based on some type of TCP communication, the devices find each other by knowing the IP Address and port number of the previous device.  The client knows the IP address of the agent, the agent knows the adapter, and the adapter knows the FANUC CNC.


Ultimately the client will consume XML requested from the agent.  The structure of the XML is determined by the schema specified for each machine.  The agent takes adapter data and matches the schema name‘s with adapter stream labels.  It records the stream into a buffer.  It is that buffer of data that is served when the client requests the XML.


MTConnect FANUC Adapter on Ubuntu Linux


The FANUC FOCAS shared library from the FANUC FOCAS CD A02B-0207-K737 version 4.1 or higher  must first be installed and registered in Ubuntu 14.04 LTS.

$ sudo cp /usr/local/lib/
$ sudo ldconfig
$ sudo ln -s /usr/local/lib/ /usr/local/lib/

Next up we need to get the MTConnect adapter from GitHub.

$ cd ~ 
$ git clone

We only actually need a limited subset of files from the adapter downloaded from GitHub.  For convenience in building the binary we will copy all the needed files to the same directory. (Note, so wildcards can be used more than the needed files are copied.)

$ mkdir fanuc
$ cp ~/adapter/fanuc/adapter.ini ~/fanuc/adapter.ini
$ cp ~/adapter/fanuc/fanuc.xml ~/fanuc/fanuc.xml
$ cp ~/adapter/fanuc/*.cpp ~/fanuc/
$ cp ~/adapter/fanuc/*.hpp ~/fanuc/
$ cp ~/adapter/src/*.cpp ~/fanuc/
$ cp ~/adapter/src/*.hpp ~/fanuc/
$ cp ~/adapter/minIni_07/*.c ~/fanuc/
$ cp ~/adapter/minIni_07/*.h ~/fanuc/

Once the files are in the ~/fanuc/ directory, we need to modify the source code.  The GitHub adapter was meant for Windows, and their are several functions that need to be modified.

$ sudo nano ~/fanuc/fanuc_adapter.cpp
    Remove: #include <excpt.h>
    Change: __try and __exception to try/catch(...)

    Change: Sleep(5000) to sleep(5)

    Change: _strnicmp() to strncasecmp()

    Add Before : short ret = :: cnc_allclibhndl3...

    long level = 3;
    std::string filename = "focas.log";
    const char * c =  filename.c_str();
    short log = ::cnc_startupprocess(level, c);

    Add After: cnc_freelibhndl....


Finally the header file for Linux from the FOCAS cd is copied to the directory.  Note the name change required as the source files refer to to Fwlib32.h.

$ sudo cp fwlib32.h ~/fanuc/Fwlib32.h

With the source code modified, its time to compile the binary.  Sorry for the sloppy g++ command, this could be cleaned up with a nice CMakeLists.txt.

$ cd ~/fanuc/
$ g++ minIni.c device_datum.cpp fanuc_axis.cpp fanuc_path.cpp service.cpp condition.cpp cutting_tool.cpp string_buffer.cpp logger.cpp client.cpp server.cpp adapter.cpp fanuc_adapter.cpp FanucAdapter.cpp -lfwlib32 -lpthread -o adapter

Finally setup the adapter.ini file with the appropriate settings for your machine and run the binary.

$ ./adapter debug adapter.ini

Conclusion I’m certain one day the source code for the Linux FANUC adapter will be available from GitHub as the code is just a slight adaptation from the Windows version.  Until then, I hope you enjoyed this tutorial!

MTConnect FANUC Adapter for Windows

In this tutorial we install the MTConnect FANUC Adapter in Windows and connect to a FANUC FS0iD control.  The source code is downloaded and compiled before some settings are made to establish a connection to the machine.

1.  Download the MTConnect Adapter source code from:

2.  Extract the source code to your PC

3.  Copy the appropriate  Fwlib32.h file from FANUC FOCAS cd into the /adapter/fanuc/ directory for the control we are connecting to.

4.  Copy all of the .dll and library files from the FANUC FOCAS cd into the /adapter/fanuc/ directory on your PC.

4.5  Copy the Fwlib32.dll file from the FOCAS cd to C:\Windows\System32\

5.  Open the /fanuc/fanuc.sln solution file in Microsoft Visual C++ 2010.

6.  Right click on the project and open the properties dialog from the context menu.

7.  Select Linker->Input from the left menu.

c++ properties dialog

8.  Change the Configuration drop down box to Release 0iD

9.  Remove the /fwlib/ from the additional dependencies so they properly point to the libraries.

10.  Close the properties dialog.

11.  Change the build drop down to Release 0iD

Visual c++ configuration

12.  Press F7 to build the solution.

13.  Copy /adapter/fanuc/adapter.cfg to /adapter/fanuc/Release0iD/adapter.cfg

14.  Open the adapter.cfg file with a text editor and change the IP Address to match the machine we are connecting to.

15.  From the command prompt, run the compiled binary with the option debug.

c:\adapter\fanuc\release0id\fanuc_0id debug

adapter dos run

16.  Test by having your agent connect to this adapter!  Once the adapter is tested it can be installed into windows by running:

c:\adapter\fanuc\release0id\fanuc_0id install

Good Luck!


Confirm FOCAS is installed

FOCAS is an optional function.  If it is installed, the setting screen will be available.  The screen is located under the system hard key; followed by the continuous menu soft key several times.


continuous menu softkey

Keep scrolling through the available softkeys until the [Embed Port] soft key is displayed.  All of the available ethernet interfaces will be shown.

ethernet softkeys

Of the three listed here, [Ether Board] is the best choice.   It is an add on hardware board for Ethernet communication.  Press the [Ether Board] soft key.  If the [FOCAS2] softkey is now displayed, FOCAS is installed !!!  Plug your Ethernet cable into the add on boards RJ45 plug.

focas2 softkey

If you didn’t find the [FOCAS2] softkey, then check to see if it exists under the [Embed Port] softkey.  If it does, then connect your Ethernet cable into the RJ45 plug directly on the mainboard of the FS0iD contol.   Setting FOCAS2 In order to set the FOCAS settings, we first need to be in MDI mode.  Parameter Write Enable (PWE) is then enabled under the <OFS/SET> hard key [SETTING] softkey.

set PWE

Once PWE is set the IP Address of the control is set by <SYSTEM>, [Ethe Board], [COMMON].  The IP address will be a fixed address assigned by the network administrator.

IPAddress Setting

Finally the TCP Port number is set under the [FOCAS2] settings.  This port is typically 8193, however, any valid TCP port number can be used.

TCPPort setting


If everything is set correctly the FANUC FS0iD CNC should be reachable from any computer on the same network.  In Microsoft Windows, start a new command prompt and ping the CNC.


You are now ready to use FANUC FOCAS to read and write information to the CNC.  Although the FOCAS drivers and libraries is a programming interface for C/C++ or Visual Basic, there are many available options that don’t require programming such as MTConnect and OPC converters to FOCAS.

Good Luck!