Tag Archives: Adapter

MTConnect Blog Posts

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

Machine

FANUC FS0iD FOCAS Setup

Adapter

MTConnect FANUC Adapter on Ubuntu Linux

MTConnect Adapter for Windows

MTConnect FANUC Adapter PMC Addresses

MTConnect-FANUC Macro Variables

Agent

MTConnect Agent on Ubuntu Linux

MTConnect Agent – FANUC Macro Variables

Client

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)
    return;
    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;
          mMacroSample[i]->setValue(resultant);
       }
       else
       {
          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:

adapter.ini

[adapter]
port = 7878
service = MTC Focus 1
 
[focus]
host = 192.168.82.15
 
[macros]
whale = 500
cabbage = 501
 
[pmc]
SspeedOvr = 30
Fovr = 12

the adapter will correctly pass on the named macro variables:

http://adapter.ip.address:7878/

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|servo|NORMAL||||

2014-07-14T17:04:00.057Z|comms|NORMAL||||

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

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:

fanuc_adapter.cpp
void FanucAdapter::getPMC()
{
 if (!mConnected)
 return;
 
 for (int i = 0; i &lt; mPMCCount; i++)
 {
 IODBPMC buf;
 
 // 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,
 &buf);
 if (ret == EW_OK)
 {
 if (buf.u.cdata[0] < 0)
 mPMCVariable[i]->setValue(-buf.u.cdata[0] + 128);
 else
 mPMCVariable[i]->setValue(buf.u.cdata[0]);
 }
 else
 {
 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:

adapter.ini:
[adapter]
port = 7878
service = MTC Focus 1
 
[focus]
host = 192.168.82.15
 
[macros]
 
 
[pmc]
# 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/
2014-07-10T15:12:52.532Z|Zoverheat|NORMAL||||
2014-07-10T15:12:52.532Z|Zservo|NORMAL||||
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.

overview

Click the picture for a larger view

Devices

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.

Communication

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/

2014-07-08T20:45:54.373983Z|system|NORMAL||||
2014-07-08T20:45:54.373983Z|Xtravel|NORMAL||||
2014-07-08T20:45:54.373983Z|Xoverheat|NORMAL||||
2014-07-08T20:45:54.373983Z|Xservo|NORMAL||||
2014-07-08T20:45:54.373983Z|Ytravel|NORMAL||||

Collation

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.

Finally

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 libfwlib32.so.1.0.0 /usr/local/lib/libfwlib32.so.1.0.0
$ sudo ldconfig
$ sudo ln -s /usr/local/lib/libfwlib32.so.1.0.0 /usr/local/lib/libfwlib32.so

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

$ cd ~ 
$ git clone https://github.com/mtconnect/adapter.git

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....

    cnc_exitprocess();

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:  https://github.com/mtconnect/adapter

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!