├── images
    ├── test.png
    └── Pydroid_3_Screenshot_A51.png
├── test.py
├── protocol.txt
├── LICENSE
├── sample_multipacket.md
├── sample_with_error.md
├── compare_read_diag.md
├── README.md
└── pyfanuc.py


/images/test.png:
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https://raw.githubusercontent.com/diohpix/pyfanuc/HEAD/images/test.png


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/images/Pydroid_3_Screenshot_A51.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/diohpix/pyfanuc/HEAD/images/Pydroid_3_Screenshot_A51.png


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/test.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python3
 2 | from pyfanuc import pyfanuc
 3 | 
 4 | conn=pyfanuc('192.168.0.61')
 5 | if conn.connect():
 6 | 	print("Verbunden")
 7 | 	print("Lese SPS-Wert D2204 als 16 Bit")
 8 | 	n=conn.readpmc(1,9,2204,1)
 9 | 	if n is not None:
10 | 		print("Leitwert %0.1f" % (n[2204]/48))
11 | 	print("Lese SPS-Wert D1870 & 1874 als 32 Bit")
12 | 	n=conn.readpmc(2,9,1870,2)
13 | 	if n is not None:
14 | 		print("Laenge: %i von %i (%0.1f %%)" % (n[1870],n[1874],n[1870]/n[1874]*100))
15 | 	print("Lese Achsen")
16 | 	for key,val in conn.readaxis(conn.ABS | conn.SKIP | conn.REL | conn.REF).items():
17 | 		print(key,val)
18 | 	print("Lese Programm O5555")
19 | 	print(conn.getprog("O5555"))
20 | 


--------------------------------------------------------------------------------
/protocol.txt:
--------------------------------------------------------------------------------
 1 | 01,01,0e Read CNCParam
 2 | 01,01,15 Read Macro
 3 | 01,01,16 Set Macro
 4 | 01,01,18 SysInfo
 5 | 01,01,1a readalarm
 6 | 01,01,1c Read Prgnum Main/Run
 7 | 01,01,1d Read SeqNum
 8 | 01,01,1f Rewind
 9 | 01,01,20 Read MDI
10 | 
11 | 01,01,21 Read GCode(s)
12 | 
13 | 01,01,23 Read Alarminfo
14 | 01,01,24 Read act Feedrate
15 | 01,01,25 Read act SpindleSpeed (acts)
16 | 01,01,26 Read Position
17 | 
18 | 01,01,30 Read Diag
19 | 
20 | 01,01,40 Read act SpindleSpeed/-Load (acts2)
21 | 01,01,45 get time/date
22 | 01,01,46 set time/date
23 | 01,01,56 servo load MAX_AXIS
24 | 
25 | 01,01,61 read signal names operator panel
26 | 
27 | 01,01,88 ??
28 | 01,01,89 axis names
29 | 01,01,8a spindle names
30 | 01,01,8b axis names ( absolute spindle )
31 | 01,01,8d read CNC param (cnc_rdparam3)
32 | 
33 | 01,01,96 read GCode (30i)
34 | 01,01,a0 read Param info
35 | 01,01,a2 read Diag info
36 | 01,01,a4 (controlled axis 0/spindle 1)
37 | 01,01,a7 read macro (double)
38 | 
39 | 01,01,b0 read current directory (FULLNAME i31)
40 | 01,01,b3 read directory entrys  (FULLNAME i31)
41 | 01,01,b4 read directory entry count  (FULLNAME i31)
42 | 01,01,b9 read main program name  (FULLNAME i31)
43 | 
44 | 02,01,8001 read PMC
45 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | This is free and unencumbered software released into the public domain.
 2 | 
 3 | Anyone is free to copy, modify, publish, use, compile, sell, or
 4 | distribute this software, either in source code form or as a compiled
 5 | binary, for any purpose, commercial or non-commercial, and by any
 6 | means.
 7 | 
 8 | In jurisdictions that recognize copyright laws, the author or authors
 9 | of this software dedicate any and all copyright interest in the
10 | software to the public domain. We make this dedication for the benefit
11 | of the public at large and to the detriment of our heirs and
12 | successors. We intend this dedication to be an overt act of
13 | relinquishment in perpetuity of all present and future rights to this
14 | software under copyright law.
15 | 
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19 | IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
20 | OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21 | ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
22 | OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | For more information, please refer to <https://unlicense.org>
25 | 


--------------------------------------------------------------------------------
/sample_multipacket.md:
--------------------------------------------------------------------------------
 1 | request:
 2 | 
 3 | <pre>
 4 | a0 a0 a0 a0 00 01 21 01
 5 | 	00 72 [length]
 6 | 		00 04 [4 subpackets]
 7 | 			00 1c [length subpacket 1]
 8 | 				00 01 00 01 00 a4 [get controlled axis]
 9 | 					00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
10 | 			00 1c [length subpacket 2]
11 | 				00 01 00 01 00 89 [get axis names]
12 | 					00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
13 | 			00 1c [length subpacket 3]
14 | 				00 01 00 01 00 56 [get servo load]
15 | 					00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
16 | 			00 1c [length subpacket 4]
17 | 				00 01 00 01 00 a4 [get controlled axis]
18 | 					00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
19 | </pre>
20 | 
21 | response:
22 | 
23 | <pre>
24 | a0 a0 a0 a0 00 04 21 02
25 | 	01 56
26 | 		00 04
27 | 			00 12
28 | 				00 01 00 01 00 a4 00 00 00 00 00 00
29 | 					00 02 [length payload]
30 | 						00 04 [4 controlled axes]
31 | 			00 20
32 | 				00 01 00 01 00 89 00 00 00 00 00 00
33 | 					00 10 [length payload]
34 | 						58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 ['X' 'Y' 'Z' 'B']
35 | 			01 10
36 | 				00 01 00 01 00 56 00 00 00 00 00 00
37 | 					01 00 [length payload]
38 | 						00 00 00 00 00 0a 00 00 ff ff ff fd 00 0a 00 00 [32 (MAX_AXIS) values]
39 | 						00 00 00 21 00 0a 00 00 00 00 00 00 00 0a 00 00
40 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
41 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
42 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
43 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
44 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
45 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
46 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
47 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
48 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
49 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
50 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
51 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
52 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
53 | 						00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
54 | 			00 12
55 | 				00 01 00 01 00 a4 00 00 00 00 00 00
56 | 					00 02 [length payload]
57 | 						00 04 [4 controlled axes]
58 | </pre>
59 | 


--------------------------------------------------------------------------------
/sample_with_error.md:
--------------------------------------------------------------------------------
 1 | # request
 2 | <pre>
 3 | a0 a0 a0 a0 00 01 21 01
 4 | 	00 fe [length]
 5 | 		00 09 [9 subpackets]
 6 | 			00 1c [subpacket 1 length]
 7 | 				00 01 00 01 00 1a
 8 | 				00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ALARM]
 9 | 			00 1c [subpacket 2 length]
10 | 				00 01 00 01 00 1c
11 | 				00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ACT RUN/MAIN]
12 | 			00 1c [subpacket 3 length]
13 | 				00 01 00 01 00 1d
14 | 				00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ACT SEQ]
15 | 			00 1c [subpacket 4 length]
16 | 				00 01 00 01 00 24
17 | 				00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ACTF]
18 | 			00 1c [subpacket 5 length]
19 | 				00 01 00 01 00 25
20 | 				00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ACTS]
21 | 			00 1c [subpacket 6 length]
22 | 				00 01 00 01 00 26
23 | 				00 00 00 04 ff ff ff ff 00 00 00 00 00 00 00 00 00 00 00 00 [POS ABS]
24 | 			00 1c [subpacket 7 length]
25 | 				00 01 00 01 00 26
26 | 				00 00 00 01 ff ff ff ff 00 00 00 00 00 00 00 00 00 00 00 00 [POS REF(MACHINE)]
27 | 			00 1c [subpacket 8 length]
28 | 				00 01 00 01 00 26
29 | 				00 00 00 06 ff ff ff ff 00 00 00 00 00 00 00 00 00 00 00 00 [POS REL]
30 | 			00 1c [subpacket 9 length]
31 | 				00 01 00 01 00 26
32 | 				00 00 00 07 ff ff ff ff 00 00 00 00 00 00 00 00 00 00 00 00 [POS REMAIN DIST]
33 | </pre>
34 | # response
35 | <pre>
36 | a0 a0 a0 a0 00 02 21 02
37 | 	01 6a [length]
38 | 		00 09 [9 subpackets]
39 | 			00 14 [subpacket 1 length]
40 | 				00 01 00 01 00 1a 00 00 00 00 00 00 [ok - no error]
41 | 					00 04 [payload length]
42 | 						00 00 00 00 [no alarm]
43 | 			00 18 [subpacket 2 length]
44 | 				00 01 00 01 00 1c 00 00 00 00 00 00 [ok - no error]
45 | 					00 08 [payload length]
46 | 						00 00 0b b8 00 00 0b b8 [running and main O3000]
47 | 			00 14 [subpacket 3 length]
48 | 				00 01 00 01 00 1d 00 00 00 00 00 00 [ok - no error]
49 | 					00 04 [payload length]
50 | 						00 00 00 00	[active seq 0]
51 | 			00 18 [subpacket 4 length]
52 | 				00 01 00 01 00 24 00 00 00 00 00 00
53 | 					00 08 [payload length]
54 | 						00 00 00 00 00 0a 00 04 [feedrate 0]
55 | 			00 10 [subpacket 5 length]
56 | 				00 01 00 01 00 25 00 01 00 00 00 00 00 00 [error #1 function not implemented]
57 | 			00 50 [subpacket 6 length]
58 | 				00 01 00 01 00 26 00 00 00 00 00 00 [ok - no error]
59 | 					00 40 [payload length]
60 | 						00 2f 7a e9 00 0a 00 04 00 02 bc 02 00 0a 00 04
61 | 						00 00 00 00 00 0a 00 04 00 00 00 00 00 0a 00 04
62 | 						ff ec ed 30 00 0a 00 04 00 36 ee 80 00 0a 00 04
63 | 						00 00 00 00 00 0a 00 04 00 00 00 00 00 0a 00 04
64 | 			00 50 [subpacket 7 length]
65 | 				00 01 00 01 00 26 00 00 00 00 00 00 [ok - no error]
66 | 					00 40 [payload length]
67 | 						ff fd b0 bd 00 0a 00 04 ff ed 51 11 00 0a 00 04
68 | 						ff ff f7 ad 00 0a 00 04 ff ff ff 9d 00 0a 00 04
69 | 						ff ec ed 30 00 0a 00 04 00 32 2a 47 00 0a 00 04
70 | 						00 00 00 00 00 0a 00 04 00 00 00 00 00 0a 00 04
71 | 			00 50 [subpacket 8 length]
72 | 				00 01 00 01 00 26 00 00 00 00 00 00 [ok - no error]
73 | 					00 40 [payload length]
74 | 						00 16 d1 05 00 0a 00 04 00 04 78 0b 00 0a 00 04
75 | 						ff ff fe 62 00 0a 00 04 00 00 10 af 00 0a 00 04
76 | 						00 0a e5 67 00 0a 00 04 e4 18 b6 0e 00 0a 00 04
77 | 						00 00 00 00 00 0a 00 04 00 00 00 00 00 0a 00 04
78 | 			00 10 [subpacket 9 length]
79 | 				00 01 00 01 00 26 00 06 00 00 00 00 00 00 [error #6 option error]
80 | </pre>
81 | 


--------------------------------------------------------------------------------
/compare_read_diag.md:
--------------------------------------------------------------------------------
  1 | # compare read diag on 160i-W and 31i
  2 | 
  3 | ## read diag value 160i-W
  4 | 
  5 | request:
  6 | <pre>
  7 | a0 a0 a0 a0 00 01 21 01
  8 | 	00 1e [length]
  9 | 		00 01 [1 subpacket]
 10 | 			00 1c [length subpacket 1]
 11 | 				00 01 00 01 00 30 [Packet Type 01,01,30]
 12 | 				00 00 03 96 [Argument 1 from #918]
 13 | 				00 00 03 96 [Argument 2 to   #918]
 14 | 				00 00 00 01 [Argument 3 first axis]
 15 | 				00 00 00 00 [Argument 4]
 16 | 				00 00 00 00 [Argument 5]
 17 | </pre>
 18 | response:
 19 | <pre>
 20 | a0 a0 a0 a0 00 02 21 02
 21 | 	00 3a [length]
 22 | 		00 01 [1 subpacket]
 23 | 			00 38 [length subpacket 1]
 24 | 				00 01 00 01 00 30 00 00 00 00 00 00 [Packet Type 01,01,30 response OK=0]
 25 | 					00 28 [length payload]
 26 | 						00 00 03 96 00 00 00 02 [#918, axis 0, type double-word]
 27 | 						00 17 72 a3 [1536675]
 28 | 						30 30 32 32 [fill]
 29 | 						20 36 00 00 [fill]
 30 | 						00 00 00 00 [fill]
 31 | 						00 00 00 00 [fill]
 32 | 						00 00 00 00 [fill]
 33 | 						00 00 00 00 [fill]
 34 | 						00 00 00 00 [fill up to MAX_AXIS (8)]
 35 | </pre>
 36 | ## read diag value 31i
 37 | 
 38 | request:
 39 | <pre>
 40 | a0 a0 a0 a0 00 01 21 01
 41 | 	00 1e [length]
 42 | 		00 01 [1 subpacket]
 43 | 			00 1c [length subpacket 1]
 44 | 				00 01 00 01 00 93 [Packet Type 01,01,30]
 45 | 				00 00 01 34 [Argument 1 from #308]
 46 | 				00 00 01 35 [Argument 2 to   #309]
 47 | 				ff ff ff ff [Argument 3 all axes -1]
 48 | 				00 00 00 00 [Argument 4]
 49 | 				00 00 00 00 [Argument 5]
 50 | </pre>
 51 | response:
 52 | <pre>
 53 | a0 a0 a0 a0 00 04 21 02
 54 | 	02 22 [length]
 55 | 		00 01 [1 subpacket]
 56 | 			02 20 [length subpacket 1]
 57 | 				00 01 00 01 00 93 00 00 00 00 00 00 [Packet Type 01,01,93 response OK=0]
 58 | 					02 10 [length payload]
 59 | 						00 00 01 34 ff ff 00 00 [#308, all axes -1]
 60 | 							00 00 00 1c 00 0a 00 00 [value axis 1 = 28]
 61 | 							00 00 00 1c 00 0a 00 00 [value axis 2 = 28]
 62 | 							00 00 00 2c 00 0a 00 00 [value axis 3 = 44]
 63 | 							00 00 00 1a 00 0a 00 00 [value axis 4 = 26]
 64 | 							00 00 00 00 00 0a 00 00 [fill]
 65 | 							00 00 00 00 00 0a 00 00 [fill]
 66 | 							00 00 00 00 00 0a 00 00 [fill]
 67 | 							00 00 00 00 00 0a 00 00 [fill]
 68 | 							00 00 00 00 00 0a 00 00 [fill]
 69 | 							00 00 00 00 00 0a 00 00 [fill]
 70 | 							00 00 00 00 00 0a 00 00 [fill]
 71 | 							00 00 00 00 00 0a 00 00 [fill]
 72 | 							00 00 00 00 00 0a 00 00 [fill]
 73 | 							00 00 00 00 00 0a 00 00 [fill]
 74 | 							00 00 00 00 00 0a 00 00 [fill]
 75 | 							00 00 00 00 00 0a 00 00 [fill]
 76 | 							00 00 00 00 00 0a 00 00 [fill]
 77 | 							00 00 00 00 00 0a 00 00 [fill]
 78 | 							00 00 00 00 00 0a 00 00 [fill]
 79 | 							00 00 00 00 00 0a 00 00 [fill]
 80 | 							00 00 00 00 00 0a 00 00 [fill]
 81 | 							00 00 00 00 00 0a 00 00 [fill]
 82 | 							00 00 00 00 00 0a 00 00 [fill]
 83 | 							00 00 00 00 00 0a 00 00 [fill]
 84 | 							00 00 00 00 00 0a 00 00 [fill]
 85 | 							00 00 00 00 00 0a 00 00 [fill]
 86 | 							00 00 00 00 00 0a 00 00 [fill]
 87 | 							00 00 00 00 00 0a 00 00 [fill]
 88 | 							00 00 00 00 00 0a 00 00 [fill]
 89 | 							00 00 00 00 00 0a 00 00 [fill]
 90 | 							00 00 00 00 00 0a 00 00 [fill]
 91 | 							00 00 00 00 00 0a 00 00 [fill up to MAX_AXIS (32)]
 92 | 						00 00 01 35 ff ff 00 00 [#309, all axes -1]
 93 | 							00 00 00 24 00 0a 00 00 [value axis 1 = 36]
 94 | 							00 00 00 24 00 0a 00 00 [value axis 2 = 36]
 95 | 							00 00 00 31 00 0a 00 00 [value axis 3 = 49]
 96 | 							00 00 00 00 00 0a 00 00 [value axis 4 = 0]
 97 | 							00 00 00 00 00 0a 00 00 [fill]
 98 | 							00 00 00 00 00 0a 00 00 [fill]
 99 | 							00 00 00 00 00 0a 00 00 [fill]
100 | 							00 00 00 00 00 0a 00 00 [fill]
101 | 							00 00 00 00 00 0a 00 00 [fill]
102 | 							00 00 00 00 00 0a 00 00 [fill]
103 | 							00 00 00 00 00 0a 00 00 [fill]
104 | 							00 00 00 00 00 0a 00 00 [fill]
105 | 							00 00 00 00 00 0a 00 00 [fill]
106 | 							00 00 00 00 00 0a 00 00 [fill]
107 | 							00 00 00 00 00 0a 00 00 [fill]
108 | 							00 00 00 00 00 0a 00 00 [fill]
109 | 							00 00 00 00 00 0a 00 00 [fill]
110 | 							00 00 00 00 00 0a 00 00 [fill]
111 | 							00 00 00 00 00 0a 00 00 [fill]
112 | 							00 00 00 00 00 0a 00 00 [fill]
113 | 							00 00 00 00 00 0a 00 00 [fill]
114 | 							00 00 00 00 00 0a 00 00 [fill]
115 | 							00 00 00 00 00 0a 00 00 [fill]
116 | 							00 00 00 00 00 0a 00 00 [fill]
117 | 							00 00 00 00 00 0a 00 00 [fill]
118 | 							00 00 00 00 00 0a 00 00 [fill]
119 | 							00 00 00 00 00 0a 00 00 [fill]
120 | 							00 00 00 00 00 0a 00 00 [fill]
121 | 							00 00 00 00 00 0a 00 00 [fill]
122 | 							00 00 00 00 00 0a 00 00 [fill]
123 | 							00 00 00 00 00 0a 00 00 [fill]
124 | 							00 00 00 00 00 0a 00 00 [fill up to MAX_AXIS (32)]
125 | </pre>
126 | 


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/README.md:
--------------------------------------------------------------------------------
  1 | # pyfanuc
  2 | focas fanuc protocol-analysis to python-source
  3 | 
  4 | [samplescreens on raspberry and android](#samples)
  5 | 
  6 | The python-source is based on protocol analysis.
  7 | The problem is, that the Fanuc Focas Library does not have proper linux support.
  8 | The current target platform for protocol-analysis is an EDM-machine with a 160 control and a Robodrill 30i.
  9 | 
 10 | "I need more generated protocols (wireshark) from another fanuc-machines."
 11 | 
 12 | ## implemented
 13 | |function|description|
 14 | |:------|:---------|
 15 | | getsysinfo | read sysinfos |
 16 | | readparam | read parameter(s) |
 17 | | readdiag | read diagnostic-value(s) |
 18 | | readmacro | read macro-value(s) |
 19 | | readpmc | read pmc-variables |
 20 | | readexecprog	| execute linecode |
 21 | | readprognum | actual main/run program |
 22 | | readalarm | read alarm bitfield |
 23 | | readalarmcode | read alarm code/msg |
 24 | | settime | set date/time |
 25 | | listprog	| listprograms |
 26 | | getprog | program read test (experimental) |
 27 | | readactfeed | actual feedrate |
 28 | | readactspindlespeed | actual spindlespeed |
 29 | | readaxis | actual axis-values |
 30 | | getdate | read date |
 31 | | gettime | read time |
 32 | | getdatetime | read date+time |
 33 | 
 34 | ### control >= 30i
 35 | |function|description|
 36 | |:------|:---------|
 37 | | readdir_current | current directory |
 38 | | readdir_info	| directory-info |
 39 | | readdir | read directory (one block) |
 40 | | readdir_complete	| read complete directory |
 41 | | readprogname | read mainprogname with path |
 42 | 
 43 | ### subfunctions
 44 | |function|description|
 45 | |:------|:---------|
 46 | | connect | connecting |
 47 | | disconnect | disconnecting  |
 48 | | _req_rdsingle | capsulate single packet request |
 49 | | _req_rdmulti |  capsulate single packets request |
 50 | | _req_rdsub | sub-packet-pack |
 51 | | encap | encapsulate packets |
 52 | | decap | decapsulate packets |
 53 | | _decode8 | decode 8 byte values |
 54 | 
 55 | ## Protocol samples
 56 | 
 57 | ### GETPMC VALUE D2204
 58 | #### Request
 59 | Header
 60 | | Sync        | Version | Request | Request length | Subpacket count | 
 61 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
 62 | | A0 A0 A0 A0 |  00 01  |  21 01  |  00 1e  |   00 01   |
 63 | 
 64 | Subpacket 1 (length=length+2)
 65 | | Length | CNC/PMC   | Func      | int32       | int32     | int32     | int32     | int32     |
 66 | |:------:|:---------:|:---------:|:-----------:|:---------:|:---------:|:---------:|:---------:|
 67 | |  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|
 68 | |        | CNC=1/PMC=2 |           | 2204 | 2205 | Memory Type (D) | Type (short) | flll |
 69 | 
 70 | Data Type
 71 | | Typ | Description |
 72 | |:-----------:|:-------|
 73 | | 0 | byte |
 74 | | 1 | short |
 75 | | 2 | int32 |
 76 | 
 77 | Memory Type
 78 | | Typ | | Description |
 79 | |:-----------:|:-------:|:-------|
 80 | | 0 | G | uplink PMC to CNC |
 81 | | 1 | F | downlink PMC from CNC |
 82 | | 2 | Y | uplink PMC to Machine |
 83 | | 3 | X | downlink PMC from Machine |
 84 | | 4 | A | message |
 85 | | 5 | R | internal Relays |
 86 | | 6 | T | Timer |
 87 | | 7 | K | Keep relays |
 88 | | 8 | C | Counter |
 89 | | 9 | D | Data |
 90 | 
 91 | #### Response
 92 | Header
 93 | | Sync        | Version | Response| Response length| Subpacket count | 
 94 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
 95 | | A0 A0 A0 A0 |  00 02  |  21 02  |  00 14  |   00 01   |
 96 | 
 97 | Subpacket 1
 98 | | Length | CNC/PMC | Func      | fill   | Length payload | int16 |
 99 | |:------:|:---------:|:---------:|:------:|:------:|:-----:|
100 | |  00 12 |   00 02   |00 01 80 01| 6 x 00 | 00 02 | 02 58 |
101 | |        | CNC=1/PMC=2 |           |        | 2 | 600  |
102 | 
103 | ### GETTIMEDATE Date 14.05.2020
104 | #### Request
105 | Header
106 | | Sync        | Version | Request | Request length | Subpacket count | 
107 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
108 | | A0 A0 A0 A0 |  00 01  |  21 01  |  00 1e  |   00 01   |
109 | 
110 | Subpacket 1 (length=length+2)
111 | | Length | CNC/PMC   | Func      | int32       | int32     | int32     | int32     | int32     |
112 | |:------:|:---------:|:---------:|:-----------:|:---------:|:---------:|:---------:|:---------:|
113 | |  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|
114 | |        | CNC=1/PMC=2 |           | DATE=0/TIME=1 |           |           |           |           |
115 | 
116 | #### Response
117 | Header
118 | | Sync        | Version | Response| Response length| Subpacket count | 
119 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
120 | | A0 A0 A0 A0 |  00 02  |  21 02  |  00 1e  |   00 01   |
121 | 
122 | Subpacket 1
123 | | Length | CNC/PMC | Func      | fill   | Length payload | int16 | int16 | int16 | fill    |
124 | |:------:|:---------:|:---------:|:------:|:------:|:-----:|:-----:|:-----:|:-------:|
125 | |  00 1c |   00 01   |00 01 00 45| 6 x 00 | 00 0c  | e4 07 | 05 00 | 0e 00 | 6 x XX  |
126 | |        | CNC=1/PMC=2 |           |        | 12     | 2020  | 5     | 14    |         |
127 | 
128 | ### GETTIMEDATE Time 12:15:05
129 | #### Request
130 | Header
131 | | Sync        | Version | Request | Request length | Subpacket count | 
132 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
133 | | A0 A0 A0 A0 |  00 01  |  21 01  |  00 1e  |   00 01   |
134 | 
135 | Subpacket 1 (length=length+2)
136 | | Length | CNC/PMC   | Func      | int32       | int32     | int32     | int32     | int32     |
137 | |:------:|:---------:|:---------:|:-----------:|:---------:|:---------:|:---------:|:---------:|
138 | |  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|
139 | |        | CNC=1/PMC=2 |           | DATE=0/TIME=1 |           |           |           |           |
140 | 
141 | #### Response
142 | Header
143 | | Sync        | Version | Response| Response length| Subpacket count | 
144 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
145 | | A0 A0 A0 A0 |  00 02  |  21 02  |  00 1e  |   00 01   |
146 | 
147 | Subpacket 1
148 | | Length | CNC/PMC | Func      | fill   | Length payload | fill    | int16 | int16 | int16 | 
149 | |:------:|:---------:|:---------:|:------:|:------:|:-----:|:-----:|:-----:|:-------:|
150 | |  00 1c |   00 01   |00 01 00 45| 6 x 00 | 00 0c  | 6 x XX  | 00 0c |  00 0f |  00 05 | 
151 | |        | CNC=1/PMC=2 |           |        | 12     |         | 12  | 15     | 5   | 
152 | 
153 | 
154 | ### GETDIAG 980-981 for first Axis
155 | #### Request
156 | Header
157 | | Sync        | Version | Request | Request length | Subpacket count | 
158 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
159 | | A0 A0 A0 A0 |  00 01  |  21 01  |  00 1e  |   00 01   |
160 | 
161 | Subpacket 1
162 | | Length | CNC/PMC | Func      | int32       | int32     | int32     | int32     | int32     |
163 | |:------:|:---------:|:---------:|:-----------:|:---------:|:---------:|:---------:|:---------:|
164 | |  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|
165 | |        | CNC=1/PMC=2 |           | 980         | 981       | Axis 1    |           |           |
166 | 
167 | #### Response
168 | Header
169 | | Sync        | Version |Response |Response length | Subpacket count | 
170 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
171 | | A0 A0 A0 A0 |  00 02  |  21 02  |  00 62  |   00 01   |
172 | 
173 | Subpacket 1 (length=length+2)
174 | | Length | CNC/PMC | Func      | fill   | Length payload |
175 | |:------:|:---------:|:---------:|:------:|:------:|
176 | |  00 60 |   00 01   |00 01 00 30| 6 x 00 | 00 50  |
177 | |        | CNC=1/PMC=2 |           |        | 2x(4+2+2+MAX_AXISx4)=80 |
178 | 
179 | Diag-Value 980 [MAX_AXIS=8 Values]
180 | |   Name      | Axis  | Datatype  | int32       | 7 x int32       |
181 | |:-----------:|:-----:|:---------:|:-----------:|:---------------:|
182 | | 00 00 03 d4 | 00 01 | 00 02     | ff f6 de aa | 7 x 00 00 00 00 |
183 | | 980         |  1    |  2-word   |  ‭-598.358‬   |                 |  
184 | 
185 | Diag-Value 981 [MAX_AXIS=8 Values]
186 | |   Name      | Axis  | Datatype  | int32       | 7 x int32       |
187 | |:-----------:|:-----:|:---------:|:-----------:|:---------------:|
188 | | 00 00 03 d5 | 00 01 | 00 02     | ff e2 62 6c | 7 x 00 00 00 00 |
189 | | 981         |  1    |  2-word   | ‭-1.940.884  |                 |
190 | 
191 | 
192 | ## Programmtransfer
193 | 
194 | getprog(self,name) ist the test-implementation for programm-transfer.
195 | 
196 | programtransfer-stream connects with a0 a0 a0 a0 00 01 01 01 00 02 00 01
197 | 
198 | controltransfer-stream (params etc.) connects with a0 a0 a0 a0 00 01 01 01 00 02 00 02
199 | 
200 | Start Transfer
201 | | Sync        | Version | Request | Request length | unknown | zeroterm. Prognames |
202 | |:-----------:|:-------:|:-------:|:-------:|:---------:|:---------:|
203 | | A0 A0 A0 A0 |  00 01  |  15 01  |  02 04  |   00 00 00 01   | "O2200-O2200" 00 .. |
204 | 
205 | 
206 | | Sync        | Version | Response| Response length| unknown | 
207 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
208 | | A0 A0 A0 A0 |  00 02  |  15 02  |  02 01  |   ..   |
209 | 
210 | # if not exist
211 | Receive block
212 | | Sync        | Version | Response| Response length|
213 | |:-----------:|:-------:|:-------:|:-------:|
214 | | A0 A0 A0 A0 |  00 02  |  16 04  |  00 00  |
215 | 
216 | # if exist
217 | Receive block
218 | | Sync        | Version | Response| Response length| Programtext | 
219 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
220 | | A0 A0 A0 A0 |  00 02  |  16 04  |  05 00  |   ..   |
221 | 
222 | Receive block
223 | | Sync        | Version | Response| Response length| Programtext | 
224 | |:-----------:|:-------:|:-------:|:-------:|:---------:|
225 | | A0 A0 A0 A0 |  00 02  |  16 04  |  05 00  |  ... "%" |
226 | 
227 | Transfer end
228 | | Sync        | Version | Response| Response length|
229 | |:-----------:|:-------:|:-------:|:-------:|
230 | | A0 A0 A0 A0 |  00 02  |  17 01  |  00 00  |
231 | 
232 | Stop Transfer
233 | | Sync        | Version | Request | Request length |
234 | |:-----------:|:-------:|:-------:|:-------:|
235 | | A0 A0 A0 A0 |  00 01  |  17 02  |  00 00  |
236 | 
237 | # samples
238 | 
239 | ## sample on raspberry pi 2 only with python3 and without x86-emu/wine etc.
240 | 
241 | ![Test Image](/images/test.png)
242 | 
243 | ## sample on Samsung A51 with Pydroid-Android 
244 | 
245 | import pyfanuc
246 | conn=pyfanuc('192.168.0.61')
247 | if conn.connect():
248 | 	print("connected")
249 | 	print('type:'+conn.sysinfo['cnctype'].decode())
250 | 	print(conn.getdatetime())
251 | 	print(conn.statinfo())
252 | if conn.disconnect():
253 | 	print("disconnected")
254 | 
255 | ![Test Image](/images/Pydroid_3_Screenshot_A51.png)
256 | 
257 | 


--------------------------------------------------------------------------------
/pyfanuc.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python3
  2 | import socket,time,datetime
  3 | from struct import pack,unpack
  4 | 
  5 | class pyfanuc(object):
  6 | 	def __init__(self, ip, port=8193):
  7 | 		self.sock=None
  8 | 		self.ip=ip
  9 | 		self.port=port
 10 | 		self.connected=False
 11 | 	FTYPE_OPN_REQU=0x0101;FTYPE_OPN_RESP=0x0102
 12 | 	FTYPE_VAR_REQU=0x2101;FTYPE_VAR_RESP=0x2102
 13 | 	FTYPE_CLS_REQU=0x0201;FTYPE_CLS_RESP=0x0202
 14 | 	FRAME_SRC=b'\x00\x01'
 15 | 	FRAME_DST=b'\x00\x02';FRAME_DST2=b'\x00\x01'
 16 | 	FRAMEHEAD=b'\xa0\xa0\xa0\xa0'
 17 | 	def connect(self):
 18 | 		"Establish connection to machine and set parameters with sysinfo"
 19 | #		try:
 20 | 		self.sock=socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 21 | 		self.sock.settimeout(5)
 22 | 		self.sock.connect((self.ip,self.port))
 23 | 		self.sock.settimeout(1)
 24 | 		self.sock.sendall(self._encap(pyfanuc.FTYPE_OPN_REQU,pyfanuc.FRAME_DST))
 25 | 		data=self._decap(self.sock.recv(1500))
 26 | 		if data["ftype"]==pyfanuc.FTYPE_OPN_RESP:
 27 | 			self.connected=True
 28 | 		self.getsysinfo()
 29 | #		except:
 30 | #		print("ERROR")
 31 | #		self.sock=None
 32 | #		self.connected=False
 33 | 		return self.connected
 34 | 	def disconnect(self):
 35 | 		"Disconnect the connection to the machine"
 36 | 		if self.connected:
 37 | 			self.sock.sendall(self._encap(pyfanuc.FTYPE_CLS_REQU,b''))
 38 | 			data=self._decap(self.sock.recv(1500))
 39 | 			if data["ftype"]==pyfanuc.FTYPE_CLS_RESP:
 40 | 				return True
 41 | 		return False
 42 | 
 43 | 	def _encap(self,ftype,payload,fvers=1):
 44 | 		"intern function - Encapsulate packetdata"
 45 | 		if ftype==pyfanuc.FTYPE_VAR_REQU:
 46 | 			pre=[]
 47 | 			if isinstance(payload,list):
 48 | 				for t in payload:
 49 | 					pre.append(pack(">H",len(t)+2)+t)
 50 | 				payload=pack(">H",len(pre))+b''.join(pre)
 51 | 			else:
 52 | 				payload=pack(">HH",1,len(payload)+2)+payload
 53 | 		return pyfanuc.FRAMEHEAD+pack(">HHH",fvers,ftype,len(payload))+payload
 54 | 	def _decap(self,data):
 55 | 		"intern function - Decapsulate packetdata"
 56 | 		if len(data)<10:
 57 | 			return {"len":-1}
 58 | 		if not data.startswith(b'\xa0'*4):
 59 | 			return {"len":-1}
 60 | 		fvers,ftype,len1=unpack(">HHH",data[4:10])
 61 | 		if len1+10 != len(data):
 62 | 			return {"len":-1}
 63 | 		if len1==0:
 64 | 			return {"len":0,"ftype":ftype,"fvers":fvers,"data":b'0'}
 65 | 		data=data[10:]
 66 | 		if ftype==pyfanuc.FTYPE_VAR_RESP:
 67 | 			re=[]
 68 | 			qu=unpack(">H",data[0:2])[0]
 69 | 			n=2
 70 | 			for t in range(qu):
 71 | 				le=unpack(">H",data[n:n+2])[0]
 72 | 				re.append(data[n+2:n+le])
 73 | 				n+=le
 74 | 			return {"len":len1,"ftype":ftype,"fvers":fvers,"data":re}
 75 | 		else: # ftype==FTYPE_OPN_RESP or ftype==FTYPE_CLS_RESP
 76 | 			return {"len":len1,"ftype":ftype,"fvers":fvers,"data":data}
 77 | 	def _req_rdsingle(self,c1,c2,c3,v1=0,v2=0,v3=0,v4=0,v5=0,pl=b""):
 78 | 		"intern function - pack simple command"
 79 | 		cmd=pack(">HHH",c1,c2,c3)
 80 | 		self.sock.sendall(self._encap(pyfanuc.FTYPE_VAR_REQU,cmd+pack(">iiiii",v1,v2,v3,v4,v5)+pl))
 81 | 		t=self._decap(self.sock.recv(1500))
 82 | 		if t["len"]==0:
 83 | 			return {"len":-1}
 84 | 		elif t["ftype"]!=pyfanuc.FTYPE_VAR_RESP:
 85 | 			return {"len":-1}
 86 | 		elif t["data"][0].startswith(cmd+b'\x00'*6):
 87 | 			return {"len":unpack(">H",t["data"][0][12:14])[0],"data":t["data"][0][14:]}
 88 | 		elif t["data"][0].startswith(cmd):
 89 | 			return {"len":0,"data":t["data"][0][6:],"error":unpack(">h",t["data"][0][6:8])[0]}
 90 | 		else:
 91 | 			return {"len":-1}
 92 | 	def _req_rdmulti(self,l):
 93 | 		"intern function - pack multiple commands"
 94 | 		self.sock.sendall(self._encap(pyfanuc.FTYPE_VAR_REQU,l))
 95 | 		t=self._decap(self.sock.recv(1500))
 96 | 		if t["len"]==0:
 97 | 			return {"len":-1}
 98 | 		elif t["ftype"]!=pyfanuc.FTYPE_VAR_RESP:
 99 | 			return {"len":-1}
100 | 		if len(l) != len(t["data"]):
101 | 			return {"len":-1}
102 | 		for x in range(len(t["data"])):
103 | 			if t["data"][x][0:6] == l[x][0:6]:
104 | 				if t["data"][x][6:12]==b'\x00'*6:
105 | 					t["data"][x]=[0,t["data"][x][12:]]
106 | 				else:
107 | 					t["data"][x]=[unpack('>h',t["data"][x][0:2])[0],t["data"][x][12:]]
108 | 			else:
109 | 				return {"len":-1}
110 | 		return t
111 | 	def _req_rdsub(self,c1,c2,c3,v1=0,v2=0,v3=0,v4=0,v5=0):
112 | 		"intern function - pack subfunction info"
113 | 		return pack(">HHHiiiii",c1,c2,c3,v1,v2,v3,v4,v5)
114 | 	def _decode8(self,val):
115 | 		"intern function - decode value from 8 bytes"
116 | 		if val[5]==2 or val[5]==10:
117 | 			if val[-2:]==b'\xff'*2:
118 | 				return None
119 | 			else:
120 | 				return unpack(">i",val[0:4])[0]/val[5]**val[7]
121 | 	def statinfo(self):
122 | 		"""
123 | 		Get state of machine
124 | 		"""
125 | 		st=self._req_rdsingle(1,1,0x19,0)
126 | 		if (self.sysinfo["cnctype"]==b"16" or self.sysinfo["cnctype"]==b"31") and st["len"]==0xe:
127 | 			return dict(zip(['aut','run','motion','mstb','emegency','alarm','edit'],
128 | 			unpack(">HHHHHHH",st["data"])))
129 | 	def getdate(self):
130 | 		"""
131 | 		Get date
132 | 		returns [YEAR,MONTH,DAY]
133 | 		"""
134 | 		st=self._req_rdsingle(1,1,0x45,0)
135 | 		if st["len"]==0xc:
136 | 			return unpack(">HHH",st["data"][0:6])
137 | 	def gettime(self):
138 | 		"""
139 | 		Get time
140 | 		returns [HOUR,MINUTE,SECOND]
141 | 		"""
142 | 		st=self._req_rdsingle(1,1,0x45,1)
143 | 		if st["len"]==0xc:
144 | 			return unpack(">HHH",st["data"][-6:])
145 | 	def getdatetime(self):
146 | 		"""
147 | 		Get date and time
148 | 		returns time.struct_time
149 | 		"""
150 | 		st=self._req_rdmulti([self._req_rdsub(1,1,0x45,0),self._req_rdsub(1,1,0x45,1)])
151 | 		if st["len"]<0:
152 | 			return
153 | 		if len(st["data"]) != 2:
154 | 			return
155 | 		if st["data"][0][0]!=0 or st["data"][1][0]!=0:
156 | 			return
157 | 		if unpack(">H",st["data"][0][1][0:2])[0] == 0xc and unpack(">H",st["data"][1][1][0:2])[0] == 0xc:
158 | 			return datetime.datetime(*unpack(">HHHHHH",st["data"][0][1][2:8]+st["data"][1][1][-6:])).timetuple()
159 | 	def getsysinfo(self):
160 | 		"""
161 | 		Get sysinfo
162 | 		returns ['addinfo','maxaxis','cnctype','mttype','series','version','axes']
163 | 		"""
164 | 		st=self._req_rdsingle(1,1,0x18)
165 | 		if st["len"]==0x12:
166 | 			self.sysinfo=dict(zip(['addinfo','maxaxis','cnctype','mttype','series','version','axes'],
167 | 			unpack(">HH2s2s4s4s2s",st["data"])))
168 | 
169 | 	FORMAT_AXIS,FORMAT_TOOLOFF,FORMAT_MACRO,FORMAT_WORKZOFF,FORMAT_CUTFR=0,1,2,3,4;
170 | 	def getformat(self,type=0):
171 | 		"get typespecific numberformat"
172 | 		st=self._req_rdsingle(1,1,0x1b,type)
173 | 		if st["len"]>=4+2*2:
174 | 			n={'type':type,'count':unpack(">i",st["data"][0:4])[0]}
175 | 			t=[]
176 | 			for x in range(4,st["len"],4):
177 | 				t.append(dict(zip(['decinput','decoutput'],unpack(">HH",st["data"][x:x+4]))))
178 | 			if len(t)>1:
179 | 				n["dec"]=t
180 | 			else:
181 | 				n.update(t[0])
182 | 			return n
183 | 
184 | 	ABS=1;REL=2;REF=4;SKIP=8;DIST=16
185 | 	ALLAXIS=-1
186 | 	def readaxes(self,what=1,axis=ALLAXIS):
187 | 		r=[]
188 | 		axvalues=(("ABS",pyfanuc.ABS,4),("REL",pyfanuc.REL,6),("REF",pyfanuc.REF,1),("SKIP",pyfanuc.SKIP,8),("DIST",pyfanuc.DIST,7))
189 | 		for u,v,w in axvalues:
190 | 			if what & v:
191 | 				r.append(self._req_rdsub(1,1,0x26,w,axis))
192 | 		st=self._req_rdmulti(r)
193 | 		if st["len"]<0:
194 | 			return
195 | 		r={}
196 | 		for x in st["data"]:
197 | 			ret1=[]
198 | 			if x[0]!=0:
199 | 				ret1=None
200 | 			else:
201 | 				for pos in range(2,unpack(">H",x[1][0:2])[0]+2,8):
202 | 					value=x[1][pos:pos+8]
203 | 					ret1.append(self._decode8(value))
204 | 			for u,v,w in axvalues:
205 | 				if what & v:
206 | 					r[u]=ret1
207 | 					what &= ~v
208 | 					break
209 | 		return r
210 | 	def readparam(self,axis,first,last=0):
211 | 		if last==0:last=first
212 | 		st=self._req_rdsingle(1,1,0x0e,first,last,axis)
213 | 		if st["len"]<0:
214 | 			return
215 | 		r={}
216 | 		for pos in range(0,st["len"],self.sysinfo["maxaxis"]*4+8):
217 | 			varname,axiscount,valtype=unpack(">IhH",st["data"][pos:pos+8])
218 | 			values={"type":valtype,"axis":axiscount,"data":[]}
219 | 			for n in range(pos+8,pos+self.sysinfo["maxaxis"]*4+8,4):
220 | 				value=st["data"][n:n+4]
221 | 				if valtype==0:
222 | 					value=value[-1] #bit 1bit / Byte
223 | 				elif valtype==1:
224 | 					value=[(value[-1] >> n)& 1 for n in range(7,-1,-1)] #bit 8bit
225 | 				elif valtype==2:
226 | 					value=unpack(">h",value[-2])[0] #short
227 | 				elif valtype==3:
228 | 					value=unpack(">i",value)[0] #int
229 | 				if axiscount != -1:
230 | 					values["data"].append(value)
231 | 					break
232 | 				else:
233 | 					values["data"].append(value)
234 | 			r[varname]=values
235 | 		return r
236 | 	def readdiag(self,axis,first,last=0):
237 | 		if last==0:last=first
238 | 		st=self._req_rdsingle(1,1,0x30,first,last,axis)
239 | 		if st["len"]<0:
240 | 			return
241 | 		r={}
242 | 		for pos in range(0,st["len"],self.sysinfo["maxaxis"]*4+8):
243 | 			varname,axiscount,valtype=unpack(">IhH",st["data"][pos:pos+8])
244 | 			values={"type":valtype,"axis":axiscount,"data":[]}
245 | 			for n in range(pos+8,pos+self.sysinfo["maxaxis"]*4+8,4):
246 | 				value=st["data"][n:n+4]
247 | 				if valtype==4 or valtype==0:
248 | 					value=value[-1] #bit 1bit / Byte
249 | 				elif valtype==1:
250 | 					value=unpack(">h",value[-2])[0] #short
251 | 				elif valtype==2:
252 | 					value=unpack(">i",value)[0] #int
253 | 				elif valtype==3:
254 | 					value=[(value[-1] >> n)& 1 for n in range(7,-1,-1)] #bit 8bit
255 | 				if axiscount != -1:
256 | 					values["data"].append(value)
257 | 					break
258 | 				else:
259 | 					values["data"].append(value)
260 | 			r[varname]=values
261 | 		return r
262 | 	def readmacro(self,first,last=0):
263 | 		if last==0: last=first
264 | 		st=self._req_rdsingle(1,1,0x15,first,last)
265 | 		if st["len"]<=0:
266 | 			return
267 | 		r={}
268 | 		for pos in range(0,st["len"],8):
269 | 			r[first]=self._decode8(st["data"][pos:pos+8])
270 | 			first+=1
271 | 		return r
272 | 	def readpmc(self,datatype,section,first,count=1):
273 | 		last=first+(1<<datatype)*count-1
274 | 		st=self._req_rdsingle(2,1,0x8001,first,last,section,datatype)
275 | 		if st["len"]<=0:
276 | 			return
277 | 		r={}
278 | 		for x in range(st["len"]>>datatype):
279 | 			pos=(1<<datatype)*x
280 | 			if datatype==0:
281 | 				value=st["data"][pos]
282 | 			elif datatype==1:
283 | 				value=unpack(">H",st["data"][pos:pos+2])[0]
284 | 			elif datatype==2:
285 | 				value=unpack(">I",st["data"][pos:pos+4])[0]
286 | 			r[first+(1<<datatype)*x]=value
287 | 		return r
288 | 	def readexecprog(self,chars=256):
289 | 		st=self._req_rdsingle(1,1,0x20,chars)
290 | 		if st["len"]<=4:
291 | 			return
292 | 		return {"block":unpack(">i",st["data"][0:4])[0],"text":st["data"][4:].decode()}
293 | 	def readprognum(self):
294 | 		"""
295 | 		Get the running program and main program numbers
296 | 		returns [running,main]
297 | 		"""
298 | 		st=self._req_rdsingle(1,1,0x1c)
299 | 		if st["len"]<8:
300 | 			return
301 | 		return {"run":unpack(">i",st["data"][0:4])[0],"main":unpack(">i",st["data"][4:])[0]}
302 | 	def readprogname(self): #31i
303 | 		"""
304 | 		Get current mainprogname
305 | 		returns name with path
306 | 		"""
307 | 		st=self._req_rdsingle(1,1,0xb9)
308 | 		if st["len"]>=0:
309 | 			p=st["data"].split(b'\0', 1)[0]
310 | 			return p.decode()
311 | 		return None
312 | 	def settime(self,h=-1,m=0,s=0):
313 | 		"""
314 | 		Set Time to Parameter-Values or actual PC-Time
315 | 		variant 1 - requests nothing for actual PC-Time to set
316 | 		variant 2 - requests hour,optional minute (default 0),optional second (default 0)
317 | 		"""
318 | 		if h==-1:
319 | 			t=time.localtime()
320 | 			h,m,s=t.tm_hour,t.tm_min,t.tm_sec
321 | 		self.sock.sendall(self._encap(pyfanuc.FTYPE_VAR_REQU,self._req_rdsub(1,1,0x46,1,0,0,0,12)+b'\x00'*6+pack(">HHH",h,m,s)))
322 | 		t=self._decap(self.sock.recv(1500))
323 | 		if t["len"]==18:
324 | 			if t["ftype"]==pyfanuc.FTYPE_VAR_RESP and unpack(">HHH",t["data"][0][0:6])==(1,1,0x46):
325 | 				return unpack(">h",t["data"][0][6:8])[0]
326 | 	def listprog(self,start=1):
327 | 		ret={}
328 | 		while True:
329 | 			st=self._req_rdsingle(1,1,0x06,start,0x13,2)
330 | 			if st["len"] < -1:
331 | 				return None
332 | 			elif st["len"]==0:
333 | 				return ret
334 | 			for t in range(0,st["len"],72):
335 | 				number,size,comment=unpack(">II64s",st["data"][t:t+72])
336 | 				comment=comment.split(b'\0', 1)[0]
337 | 				start=number+1
338 | 				ret[number]={"size":size,"comment":comment.decode()}
339 | 	def readalarm(self):
340 | 		"Read alarm Bitfield"
341 | 		st=self._req_rdsingle(1,1,0x1a)
342 | 		if st["len"]==4:
343 | 			return unpack(">L",st["data"])[0]
344 | 		return None
345 | 	def readalarmcode(self,type,withtext=0,maxmsgs=-1,textlength=32):
346 | 		"Read alarm code / msg"
347 | 		#readalarmmsg	Returns Alarmcode+Msgtext	1,1,0x23,int32 Type,int32 MaxMsgs,int32 0 w/o or 1/2 with text,int32 MaxTextLength
348 | 		#											int32 AlarmCode,int32 AlarmType,int32 Axis,int32 TextLength,text/trash
349 | 		if maxmsgs<=0:
350 | 			maxmsgs=int(self.sysinfo['axes'])
351 | 		st=self._req_rdsingle(1,1,0x23,type,maxmsgs,withtext,textlength)
352 | 		ret=[]
353 | 		if st["len"] > 0:
354 | 			for pos in range(0,st["len"],4*4+textlength):
355 | 				entry=dict(zip(['alarmcode','alarmtype','axis'],unpack(">iii",st["data"][pos:pos+4*3])))
356 | 				txlen=unpack(">i",st["data"][pos+4*3:pos+4*4])[0]
357 | 				if txlen>0 and withtext>0:
358 | 					entry["text"]=st["data"][pos+4*4:pos+4*4+textlength]
359 | 				ret.append(entry)
360 | 			return ret
361 | 		return None
362 | 	def readdir_current(self,fgbg=1): #31i
363 | 		"""
364 | 		Get current directory
365 | 		requests 1 (default) for foreground or 2 for background
366 | 		returns directoryname
367 | 		"""
368 | 		st=self._req_rdsingle(1,1,0xb0,fgbg)
369 | 		if st["len"]>=0:
370 | 			p=st["data"].split(b'\0', 1)[0]
371 | 			return p.decode()
372 | 		return None
373 | 	def readdir_info(self,dir): #31i
374 | 		buffer=bytearray(0x100)
375 | 		bdir=dir.encode()
376 | 		buffer[0:len(bdir)]=bdir
377 | 		st=self._req_rdsingle(1,1,0xb4,0,0,0,0,256,buffer)
378 | 		if st["len"]>=8:
379 | 			return dict(zip(['dirs','files'],unpack(">ii",st["data"])))
380 | 		return None
381 | 	def readdir(self,dir,first=0,count=10,type=0,size=1): #30i
382 | 		buffer=bytearray(0x100)
383 | 		bdir=dir.encode()
384 | 		buffer[0:len(bdir)]=bdir
385 | 		st=self._req_rdsingle(1,1,0xb3,first,count,type,size,256,buffer)
386 | 		x=[]
387 | 		if st["len"]>=8:
388 | 			for t in range(0,st["len"],128):
389 | 				n=dict(zip(['type','datetime','unkn','size','attr','name','comment','proctimestamp'],unpack(">h12s6sII36s52s12s",st["data"][t:t+128])))
390 | 				del n['unkn']
391 | 				if n['type']==1:
392 | 					n['comment']=n['comment'].split(b'\0', 1)[0].decode()
393 | 					n['datetime']=datetime.datetime(*unpack(">HHHHHH",n['datetime'])).timetuple()
394 | 				else:
395 | 					n['comment']=None
396 | 					n['size']=None
397 | 					n['datetime']=None
398 | 				n['name']=n['name'].split(b'\0', 1)[0].decode()
399 | 				n['type']='D' if n['type']==0 else 'F'
400 | 				x.append(n)
401 | 			return(x)
402 | 		return None
403 | 	def readdir_complete(self,dir): #30i
404 | 		t=self.readdir_info(dir)
405 | 		n=t['dirs']+t['files']
406 | 		ret=[]
407 | 		for t in range(0,n,10):
408 | 			x=self.readdir(dir,first=t,count=10)
409 | 			if not x is None:
410 | 				ret.extend(x)
411 | 			else:
412 | 				break
413 | 		return ret
414 | 	def getprog(self,name): #TEST Stream
415 | 		"""
416 | 		Get program-file
417 | 		requests filename
418 | 		returns filecontent
419 | 		"""
420 | 		q=b''
421 | 		if isinstance(name,int):
422 | 			q=("O%04i-O%04i" % (name,name)).encode()
423 | 		elif isinstance(name,str):
424 | 			name=name.upper()
425 | 			if not name.startswith("O"):
426 | 				name="O"+name
427 | 			if name.find("-")==-1:
428 | 				name=name+"-"+name
429 | 			q=name.encode()
430 | 		else:
431 | 			return -1
432 | 		buffer=bytearray(0x204)
433 | 		self.sock2=socket.socket(socket.AF_INET, socket.SOCK_STREAM)
434 | 		self.sock2.connect((self.ip,self.port))
435 | 		self.sock2.settimeout(1)
436 | 		self.sock2.sendall(self._encap(pyfanuc.FTYPE_OPN_REQU,pyfanuc.FRAME_DST2))
437 | 		data=self._decap(self.sock2.recv(1500))
438 | 		buffer[0:4]=b'\x00\x00\x00\x01'
439 | 		buffer[4:4+len(q)]=q #buffer[4:15]=b'\x4f\x30\x31\x30\x30\x2d\x4f\x30\x31\x30\x30'
440 | 		self.sock2.sendall(self._encap(0x1501,buffer))
441 | 		data=self._decap(self.sock2.recv(1500))
442 | 		#print(data)
443 | 		f=b''
444 | 		n=b''
445 | 		while True:
446 | 			n+=self.sock2.recv(1500)
447 | 			while len(n)>=10:
448 | 				if n[:4]==pyfanuc.FRAMEHEAD:
449 | 					fvers,ftype,flen=unpack(">HHH",n[4:10])
450 | 					if len(n)<flen:
451 | 						break
452 | 					n=n[10:]
453 | 					if ftype==0x1604: #a0 a0 a0 a0 00 02 16 04 05 00
454 | 						f+=n[:flen]
455 | 						n=n[flen:]
456 | 					elif ftype==0x1701: #a0 a0 a0 a0 00 02 17 01 00 00
457 | 						self.sock2.sendall(self._encap(0x1702,b'')) #a0 a0 a0 a0 00 01 17 02 00 00
458 | 						return f.decode()
459 | 				else:
460 | 					return -1
461 | 		return -1
462 | 	def readactfeed(self):
463 | 		"""
464 | 		Get actual feedrate
465 | 		returns feedrate
466 | 		"""
467 | 		st=self._req_rdsingle(1,1,0x24)
468 | 		return self._decode8(st['data']) if st['len']==8 else None
469 | 	def readactspindlespeed(self):
470 | 		"""
471 | 		Get actual spindlespeed
472 | 		returns spindlespeed
473 | 		"""
474 | 		st=self._req_rdsingle(1,1,0x25)
475 | 		return self._decode8(st['data']) if st['len']==8 else None
476 | 
477 | if __name__ == '__main__':
478 | 	conn=pyfanuc('192.168.0.70')
479 | 	if conn.connect():
480 | 		print("connected")
481 | #		for t in conn.readdir_complete("//CNC_MEM/USER/PATH1/"):
482 | #			print(t)
483 | #		for n in conn.readdir_complete("//CNC_MEM/USER/PATH1/"):
484 | #			print(n['name']+" ("+time.strftime("%c",n['datetime'])+')' if n['type']=='F' else '<'+n['name']+'>')
485 | 		print(conn.getdatetime())
486 | 		#print(conn.readaxes(pyfanuc.ABS | pyfanuc.DIST))
487 | 		#print(conn._req_rdsingle(1,1,0x8a))
488 | 	if conn.disconnect():
489 | 		print("disconnected")
490 | 
491 | #	conn=pyfanuc('192.168.0.61')
492 | #	if conn.connect():
493 | #		print("connected")
494 | #		print(conn.sysinfo)
495 | #		print(conn.readactfeed())
496 | #	if conn.disconnect():
497 | #		print("disconnected")
498 | 


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