Joseph Doherty
5f0a52864c
First real FOCAS hardware contact (Makino Pro 5 / 31i-B @ 10.201.31.5). A full
v3 data-PDU capture corrected the initial diagnosis: the v3 block envelope is
identical to v1, so only specific payload structs / request math / one client
robustness gap were wrong — not "framing rewrites".
Fixes (all re-validated live through the fixed driver):
- version gate: accept inbound PDU {1,3}, keep emitting v1 (FocasWireProtocol).
- cnc_rdtimer: 8-byte {minute,msec} payload is little-endian (ParseTimer) — the
only decode with an in-range msec field.
- pmc_rdpmcrng: request range widened to the data-type byte width
(end = start + width - 1) so a Word/Long isn't truncated to 0 values
(was spurious BadOutOfRange); decode extracted to ParsePmcRange.
- cnc_rdsvmeter: per-axis LOADELM is 8 bytes (not 12) and names come from the
0x0089 block — ParseServoMeters fixes the misaligned 655360 garbage. Also the
"hang" was NetworkStream.ReadAsync not aborting a stalled socket: ReadExactlyAsync
now disposes the stream on cancellation so a stalled peer can't wedge a poll loop.
- cnc_rddynamic2: contract guard rejecting axis < 1 (driver poll already 1-based).
- FocasDriverProbe: run a real wire session (initiate + cnc_statinfo) instead of
degrading to Ok=true "TCP reachability only" when FWLIB is absent — a bare TCP
listener no longer reports HEALTHY.
cnc_rdparam (0x000e) is unsupported on this control — EW_FUNC across 14
request-framing variants x 4 known-present params; needs a reference FWLIB trace
or is restricted. Deferred (deployed config uses macros, not parameters).
Tests: FOCAS suite 234 green (+16), full solution builds 0 errors. Raw v3
captures checked in under tests/.../Fixtures/v3/. Capture tools under scripts/focas/.
Docs: docs/plans/2026-06-25-focas-pdu-v3-{30i-b-support,implementation-plan}.md,
docs/drivers/FOCAS.md, docs/v2/focas-version-matrix.md,
docs/deployments/wonder-app-vd03-makino-z-34184.md.
7.5 KiB
FOCAS version / capability matrix
Authoritative source for the per-CNC-series ranges that
FocasCapabilityMatrix
enforces at driver init time. Every row cites the Fanuc FOCAS Developer
Kit function whose documented input range determines the ceiling.
Why this exists — we have no FOCAS hardware on the bench and no
working simulator. FWLIB (Fwlib64, or Fwlib32 on legacy deployments) returns EW_NUMBER / EW_PARAM when you
hand it an address outside the controller's supported range; the
driver would map that to a per-read BadOutOfRange at steady state.
Catching at InitializeAsync with this matrix surfaces operator
typos + mismatched series declarations as config errors before any
session is opened, which is the only feedback loop available without
a live CNC to read against.
Who declares the series — FocasDeviceOptions.Series in
appsettings.json. Defaults to Unknown, which is permissive — every
address passes validation. Pre-matrix configs don't break on upgrade.
Series covered
| Enum value | Controller family | Typical era |
|---|---|---|
Unknown |
(legacy / not declared) | permissive fallback |
Sixteen_i |
16i / 18i / 21i | 1997-2008 |
Zero_i_D |
0i-D | 2008-2013 |
Zero_i_F |
0i-F | 2013-present, general-purpose |
Zero_i_MF |
0i-MF | 0i-F lathe variant |
Zero_i_TF |
0i-TF | 0i-F turning variant |
Thirty_i |
30i-A / 30i-B | 2007-present, high-end |
ThirtyOne_i |
31i-A / 31i-B | 30i simpler variant |
ThirtyTwo_i |
32i-A / 32i-B | 30i compact |
PowerMotion_i |
Power Motion i-A / i-MODEL A | motion-only controller |
Macro variable range (cnc_rdmacro / cnc_wrmacro)
Common macros 1-33 + 100-199 + 500-999 are universal across all
series. Extended macros (#10000+) exist only on higher-end series.
The numbers below reflect the extended ceiling per series per the
DevKit range tables.
| Series | Min | Max | Notes |
|---|---|---|---|
Sixteen_i |
0 | 999 | legacy ceiling — no extended |
Zero_i_D |
0 | 999 | 0i-D still at legacy ceiling |
Zero_i_F / Zero_i_MF / Zero_i_TF |
0 | 9999 | extended added on 0i-F |
Thirty_i / ThirtyOne_i / ThirtyTwo_i |
0 | 99999 | full extended set |
PowerMotion_i |
0 | 999 | atypical — limited macro coverage |
Parameter range (cnc_rdparam / cnc_wrparam)
| Series | Min | Max |
|---|---|---|
Sixteen_i |
0 | 9999 |
Zero_i_D / Zero_i_F / Zero_i_MF / Zero_i_TF |
0 | 14999 |
Thirty_i / ThirtyOne_i / ThirtyTwo_i |
0 | 29999 |
PowerMotion_i |
0 | 29999 |
PMC letters (pmc_rdpmcrng / pmc_wrpmcrng)
Addresses are letter + number (e.g. R100, F50.3). Legacy
controllers omit the F/G signal groups that 30i-family ladder
programs use, and only the 30i-family exposes K (keep-relay) +
T (timer).
| Letter | 16i | 0i-D | 0i-F family | 30i family | Power Motion-i |
|---|---|---|---|---|---|
X |
yes | yes | yes | yes | yes |
Y |
yes | yes | yes | yes | yes |
R |
yes | yes | yes | yes | yes |
D |
yes | yes | yes | yes | yes |
E |
— | yes | yes | yes | — |
A |
— | yes | yes | yes | — |
F |
— | — | yes | yes | — |
G |
— | — | yes | yes | — |
M |
— | — | yes | yes | — |
C |
— | — | yes | yes | — |
K |
— | — | — | yes | — |
T |
— | — | — | yes | — |
Letter match is case-insensitive. FocasAddress.PmcLetter is carried
as a string (not char) so the matrix can do ordinal-ignore-case
comparison.
PMC address-number ceiling
PMC addresses are byte-addressed on read + bit-addressed on write;
FocasAddress carries the bit index separately, so these are byte
ceilings.
| Series | Max byte | Notes |
|---|---|---|
Sixteen_i |
999 | legacy |
Zero_i_D |
1999 | doubled since 16i |
Zero_i_F family |
9999 | |
Thirty_i family |
59999 | highest density |
PowerMotion_i |
1999 |
Error surface
When a tag fails validation, FocasDriver.InitializeAsync throws
InvalidOperationException with a message of the form:
FOCAS tag '<name>' (<address>) rejected by capability matrix: <reason>
<reason> is the verbatim string from FocasCapabilityMatrix.Validate
and always names the series + the documented limit so the operator
can either raise the limit (if wrong) or correct the CNC series they
declared (if mismatched). Sample:
FOCAS tag 'X_axis_macro_ext' (MACRO:50000) rejected by capability
matrix: Macro variable #50000 is outside the documented range
[0, 9999] for Zero_i_F.
How this matrix stays honest
- Every row is covered by a parameterized test in
FocasCapabilityMatrixTests.cs— 46 cases across macro / parameter / PMC-letter / PMC-number boundaries + unknown-series permissiveness + rejection-message content + case-insensitivity. - Widening or narrowing a range in the matrix without updating this
doc will fail a test, because the theories cite the specific row
they reflect in their
InlineData. - The matrix is not comprehensive — it encodes only the subset of FOCAS surface the driver currently exposes (Macro / Parameter / PMC). When the driver gains a new capability (e.g. tool management, alarm history), add its series-specific range tables here + matching tests at the same time.
Follow-up
This validation closes the cheap half of the FOCAS hardware-free
stability gap — config errors now fail at load instead of per-read.
The expensive half is Tier-C process isolation so that a crashing
Fwlib64.dll doesn't take the main OPC UA server down with it. See
docs/v2/implementation/focas-isolation-plan.md
for that plan (task #220).
Real-hardware validation (first live FOCAS contact)
2026-06-25 — FANUC 31i-B (Makino Pro 5), 10.201.31.5:8193. The first time the managed wire
client met real FOCAS hardware. The control answers PDU version 3; the 10-byte header framing and
response block envelope are byte-identical to v1 (only the version field differs). cnc_sysinfo
reports CncType 31, Series G431, 7 axes (X Y Z B C A A), MtType MM.
| Command family | v3 result | Notes |
|---|---|---|
cnc_sysinfo, cnc_rdaxisname, cnc_rdspdlname |
✅ validated | identity / axis / spindle names |
cnc_rddynamic2 (positions, feed, spindle, program/seq) |
✅ validated | 1-based axis iteration; program O-number reads via big-endian |
cnc_rdopmode, cnc_exeprgname2 |
✅ validated | mode + executing program |
cnc_rdmacro |
✅ validated | deployed MACRO:3901/3902 tags read Good |
cnc_rdtimer |
✅ validated | 8-byte {minute, msec} payload is little-endian (unlike the big-endian envelope) |
pmc_rdpmcrng |
✅ validated | request range must be widened to the data-type byte width (end = start + width - 1) |
cnc_rdsvmeter |
✅ validated | per-axis LOADELM is 8 bytes, not 12; names come from the 0x0089 block; load scaling unconfirmed |
cnc_rdalmmsg2 |
✅ validated | read a live active alarm (#3080) |
cnc_rdparam |
❌ unsupported | EW_FUNC across 14 request-framing variants × 4 known-present params — likely wrong v3 command id (0x000e) or restricted on this control; needs a reference FWLIB trace |
Full finding + captured wire bytes + the fix per surface:
../plans/2026-06-25-focas-pdu-v3-30i-b-support.md.