Research & Development

April 03, 2019 Written by
Published in Products

HumanOS Fanuc Connector

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}
Active G-codes of the next block Single values or array R   Nc{n}.Modal.String:1°{x}
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}
Commanded values of the next block Single values, arrays and string formated output R   Nc{n}.Modal.Float64:3°{x}
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





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Finally, the book is ready to print :-))

Demand for integral and sustainable solutions is on the rise. As new ways of defining reality emerge, this generates the progression of more humanistic and sustainable construction of operating systems.

Designing for Human-Machine Symbiosis Using the URANOS Model: Emerging Research and Opportunities is a pivotal reference source for the latest research on human-centered system modeling and methods to provide a generic system model to describe complex non-linear systems. Featuring extensive coverage across a range of relevant topics, such as pervasive computing systems, smart environments, and smart industrial machines, this book is ideally designed for researchers, engineers, and professionals seeking current research on the integration of human beings and their natural, informational, and socio-cultural environments into system design.

In terms of systems thinking, an extensive map of related work and their influences is presented by the International Institute for General Systems Studies (IIGSS, 2001). This map was originated by E. Schwarz in 1996. It includes the influences of researchers in the domains of mathematics, physics, computer science, engineering, cybernetics, systemics, biology, ecology, sociology and philosophy fromancient times to the present.

With the permission of Jeffrey Yi-Lin Forrest (director of IIGSS), we update the map and add recent work in the field of cybernetics, systemics and coordination. Because the latest source files of that map are missing, we completely redraw it. We choose graphml, an open source format for graph design.

Legend of Map

The map encompasses different nodes and edges. The nodes denote topics, such as scientific work or research areas. Major influences between the topics are illustrated by directed edges. The map uses a color-code to show the major scientific realm of nodes and edges:

  • white: general system
  • red: cybernetics
  • black: physical sciences
  • blue: mathematics
  • dark red: computers & informatics
  • green: biology & medicine
  • yellow: symbolic systems
  • orange: social systems
  • light green: ecology
  • gray: philosophy
  • cyan: systems analysis
  • purple: engineering


Following list illustrates the origin and updates from the map.

  • Originated in 1996 by Dr. Eric Schwarz, Neuchâtel, Switzerland.
  • Extended in 1998, including items from the "The Story of Philosophy" by Will Durant (1933).
  • Elaborated in 2000-2001 from many sources for the International Institute for General Systems Studies.
  • Extended in 2016 by Benjamin Hadorn, Fribourg, Switzerland.

Your contribution: Feel free to extend and correct the graph. Please send an updated version to us in order to keep a current version online.

In this paper we present a new CPS model that considers humans as holistic beings, where mind and body operate as a whole and characteristics like creativity and empathy emerge. These characteristics influence the way humans interact and collaborate with technical systems. Our vision is to integrate humans as holistic beings within CPS in order to move towards a human-machine symbiosis. This paper outlines a model for human-centered cyber-physical systems (HCPSs) that is based on our holistic system model URANOS. The model integrates human skills and values to make them accessible to the technical system, similarly to the way they are accessible to humans in human-to-human interaction. The goal is to reinforce the human being in his feeling of being in control of his life experience in a world of smart technologies. It could also help to reduce human bio-costs like stress, job fears, etc. The proposed model is illustrated by the case study of smart industrial machines, dedicated machines for smart factories, where we test the human integration through conversation.
Cyber physical systems (CPSs) are built of physical components that are integrated into the cyber (virtual) world of computing. Whereas there are many open questions and challenges, such as time modeling, interaction between cyber and physical components, our research focuses on how humans can be holistically integrated. Our vision is to link human intelligence with CPS in order to get a smart partner for daily human activities. This will bring new system characteristics enabling to cope with self-awareness, cognition and creativity as well as the co-evolution of human-machine-symbiosis. In this sense, we state that drawing borders between virtual and physical or between users and technical artifacts is misleading. In contrast to that, we aim to treat the system as a whole. To achieve this, the paper presents a generic coordination model based on third-order cybernetics. In particular, the holistic integration of humans and other living systems into CPSs is presented, which leads toward human-centered CPSs.
Cyber physical systems (CPS) are built of physical components that are integrated into the cyber (virtual) world of computing. Such systems offer many open questions and challenges, such as time modelling, big data mining, system awareness, coordinating activities and managing collaboration within and with external systems. Many of the published work focusses on how virtual and physical systems can be designed, coordinated and managed. We argue that drawing a borderline between virtual and physical is misleading the design of CPS especially for the integration of humans. In this paper, we present a holistic modelling approach to enhance classical CPS towards human-centered CPS. The approach is based on our generic coordination model. The goal is not to create human-like systems, but rather a holistic integration of enactive entities (e.g. humans, animals, plants, cells) into CPS. Closely connected to this integration is also the understanding and modelling of cognitive coordination. We argue that this approach could enable CPS to integrate human intelligence and to become a smart partner for daily human activities.
A new holistic approach defining and dealing with coordination in smart environments is presented. Coordination has been studied for many years, but a holistic approach from a generic theoretical model to a pervasive application has never been proposed. Our approach defines a generic model in order to understand and develop coordination aspects at a high level of abstraction. The model should help to analyse and design context-, activity- and situation-aware applications for smart environments. But, it should also be generic enough to be applicable to other problem domains. In this paper we focus only on the modelling part. Our model is built of an abstraction continuum, starting with the notion of entity, interaction, evolution and rules. The notion of enactive entity is introduced on the most abstract level of the continuum. It encompasses consciousness and intentional behaviour, thus leading to cognitive coordination.
Over 15 years experience and knowledge of industrial machine controls, software architecture and engineering, artificial and pervasive intelligence, we are dedicated to provide the best and economical solutions to our valued customers.

Latest Company News

  • HumanOS Fanuc Connector

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  • Designing for Human-Machine Symbiosis Using the URANOS Model: Emerging Research and Opportunities

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