HumanOS Fanuc Connector

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Fanuc Data Access Points

The following data access points are available for HumanOS FANUC connectors:

Functions Descriptions R/W Capability Address
Absolute positions all axis R Nc{n}.Dynamic.Float64:200
Active G-codes of the current block Single values or array R Nc{n}.Modal.String:0°{x}
Nc{n}.Modal.String:10
Active G-codes of the next block Single values or array R Nc{n}.Modal.String:1°{x}
Nc{n}.Modal.String:11
Alarm state Alarms, battery and fan warnings, … R Nc{n}.Dynamic.Float64:6
Axis names Names of all axis in a semi-colon separated string (e.g. X;Y;Z;C). R Nc{n.System.String:1
Commanded values of the current block Single values, arrays and string formated output R Nc{n}.Modal.Float64:2°{x}
Nc{n}.Modal.Float64:12
Nc{n}.Modal.Float64:22
Commanded values of the next block Single values, arrays and string formated output R Nc{n}.Modal.Float64:3°{x}
Nc{n}.Modal.Float64:13
Nc{n}.Modal.Float64:23
Connection status Availability of the control R Global.System.Int32:1
Control name R Global.System.String:0
Current axis feed R Nc{n}.Dynamic.Float64:4
Current block number R Nc{n}.Program.Int32:1
Current federate override 1 Reads the current federate override 1 R Pmc{n}.Pmc_G.Uint8:12
Current federate override 2 Reads the current federate override 2 R Pmc{n}.Pmc_G.Uint8:13
Current program number R Nc{n}.Dynamic.Float64:1
Current sequence number R Nc{n}.Dynamic.Float64:2
Current spindle speed R Nc{n}.Dynamic.Float64:3
Current status of the tool group Status of the tool group {group} R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}
Current status of the tool life management Status of the tool life management R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000
Current status of the tool Status of the tool {tool} R Nc{n}.ToolLife.Int32:0x{group}{tool}
Custom macro variables Local, system and macro executer R/W Nc{n}.CustomMV.Float64:{1…33}
Cutter radius compensation number R Nc{n}.ToolLife.Int32:0x{group}{tool}°4
Cutting time in milliseconds Integrated value of cutting time in milliseconds R Nc{n}.Param.Uint32:6753
Cutting time in minutes Integrated value of cutting time in minutes R Nc{n}.Param.Uint32:6754
Cutting time of current run in milliseconds R Nc{n}.Param.Uint32:6757
Cutting time of current run in minutes R Nc{n}.Param.Uint32:6758
Diagnostics All diagnostic parameters (bit, byte, word, dword and real values) R Nc{n}.Diagnosis.{datatype}:{address}
Distance to go all axis R Nc{n}.Dynamic.Float64:400
Emergency state R Nc{n}.Dynamic.Float64:7
Machine positions all axis R Nc{n}.Dynamic.Float64:100
Current main program name R Nc{n}.Program.String:0
Current main program number R Nc{n}.Dynamic.Float64:0
Max life time of tool R ToolLifeManagement Nc{n}.System.Int32:1002
Max number of cutting cycles R ToolLifeManagement Nc{n}.System.Int32:1003
Max number of tool groups R ToolLifeManagement Nc{n}.System.Int32:1000
Max number of tools R ToolLifeManagement Nc{n}.System.Int32:1001
Number of Axis Number of axis available in the addressed nc channel R Nc{n}.System.Int32:0
Number of free tools R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°2
Number of machined parts R Nc{n}.Param.Uint32:6711
Number of tool group currently in use R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°2
Number of tool group currently selected R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°1
Number of tool group to be used next R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°3
Number of tool optional group currently in use R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°5
Number of tool optional group currently selected R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°4
Number of tool optional group to be used next R ToolLifeManagement Nc{n}.ToolLife.Int32:0x00000000°6
Number of tools Number of tools available for Tool Offset R ToolLifeManagement Nc{n}.System.Int32:100
Number of used tools R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°1
Operation mode R Nc{n}.Dynamic.Float64:8
Operation time in milliseconds R Nc{n}.Param.Uint32:6751
Operation time in minutes R Nc{n}.Param.Uint32:6752
Optional tool group R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°8
Parameters All FANUC parameter (bit, byte, word, dword and real values) R/W Nc{n}.Param.{datatype}:{address}
P-Code variables Global and path specific P-Code variables R/W Nc{n}.PCode.Float64:{10000…89999}
PMC and Dual Check Safety variables PMC variables (Memories A, C, D, E, F, G, K, M, N, R, T, X, Y, Z) R/W Pmc{n}.Pmc_{x}.{datatype}:{address}
Power-on period in minutes Integrated value of power on period in minutes R Nc{n}.Param.Uint32:6750
Current program header Program header of current selected program R ProgramManagement Nc{n}.Program.String:10
Program restart mode R Nc{n}.Dynamic.Float64:9
Relative positions all axis R Nc{n}.Dynamic.Float64:300
Rest of tool life counter R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°6
Rest signal state R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°7
Running state R Nc{n}.Dynamic.Float64:5
Selected tool in order R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°3
Servo current all axis R Nc{n}.Axis.Float64:1
Servo loop gain all axis R Nc{n}.Axis.Float64:2
Servo meter all axis R Nc{n}.Axis.Float64:0
Status of the tool R Nc{n}.ToolLife.Int32:0x{group}{tool}°2
Tool identification number R Nc{n}.ToolLife.Int32:0x{group}{tool}°1
Tool length compensation number R Nc{n}.ToolLife.Int32:0x{group}{tool}°3
Tool life (in total) R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°9
Tool life counter R/W ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°5
Tool life counter type R ToolLifeManagement Nc{n}.ToolLife.Int32:0x{group}{0000}°4
Tool offset data X,Y,Z, Radius and Tool nose orientation R/W Nc{n}.ToolOffset.Float64:{x}
Total number of machined parts R Nc{n}.Param.Uint32:6712
Workpiece offset memory Offset values of all axis for external offset, G54, G55, … G59, G54.1 P1 until G54.1 P48 R/W Nc{n}.Offset.Float64:{y}°{x}

Fanuc Commands

Following commands are available:

Command Capability Address
Synchron reading a value Global.ReadValue
Executes the external reset Nc{n}.reset
Clears the PS100/101 alarms Nc{n}.clearAlarm
Clears the life counter of a specific tool group. ToolLifeManagement Nc{n}.clearToolLifeData
Deletes all Nc programs. ProgramManagement Nc{n}.deleteAllPrograms
Deletes a specific Nc program. ProgramManagement Nc{n}.deleteProgram
Selects an Nc program for execution. ProgramManagement Nc{n}.selectProgram
Writes a file to FANUC control ProgramManagement Nc{n}.writeFile
Reads a file from FANUC control ProgramManagement Nc{n}.readFille
Writes data to the Manual Data Input Buffer (MDI) ProgramManagement Nc{n}.writeMDI