lmxopcua/docs/drivers/FOCAS.md

FOCAS Driver

Getting-started guide for the FANUC FOCAS2 driver. This is the short path — for the exhaustive per-node mapping read docs/v2/driver-specs.md §7, for the test-harness map read FOCAS-Test-Fixture.md.

What it talks to

FANUC CNCs (0i-D / 0i-F / 0i-MF / 0i-TF / 16i / 30i / 31i / 32i / Power Motion i) over the proprietary FOCAS2 protocol on TCP port 8193. The wire is spoken directly by the pure-managed Focas.Wire client — no Fwlib64.dll, no P/Invoke, no out-of-process isolation needed.

OtOpcUa is read-only against FOCAS; all reads go over the native wire protocol using the documented command IDs. Writes return BadNotWritable by design.

Equipment tags are forced read-only (R2-11, migration note). The equipment-tag parser (FocasEquipmentTagParser) now hard-codes Writable: false regardless of any authored "writable": true — previously such a tag advertised a writable node whose write always failed at the wire with BadNotWritable; now it fails one step earlier at the driver seam (same family of Bad status, no successful operation changes). The AdminUI FOCAS editor shows the Writable checkbox disabled/unchecked, and the deploy gate warns when a config requests writable:true. Additionally, equipment-tag references now run the same capability-matrix pre-flight authored tags get: a reference whose address violates the device series' matrix fails to resolve (BadNodeIdUnknown) instead of reaching the wire. Honour writable here once PMC writes ship in the wire client.

PDU version (v3 / FANUC 30i/31i). The wire client accepts inbound PDU versions {1, 3} (FocasWireProtocol) while still emitting v1 on requests. Older controls + the docker mock answer v1; modern controls (Makino Pro 5 / FANUC 31i-B) answer v3. Validated live against a real 31i-B (10.201.31.5) 2026-06-25: sysinfo, axis/spindle names, dynamic positions/feed/spindle, program/mode, macros, timers (8-byte payload is little-endian {minute, msec}), PMC range (request widened to the data-type byte width), servo meters (8-byte LOADELM stride + names from the 0x0089 block), and alarms all read correctly. Several decode errors that survived that validation (because they decode without failing — just wrongly) were later corrected from the sister ignitionoee driver's live work on the same family of controls; see Wire decode corrections (2026-10). The driver cnc_rddynamic2 poll is 1-based. cnc_rdparam is unsupported on this control — every request-framing variant returns EW_FUNC (likely a wrong v3 command id; needs a reference FWLIB trace). The Test-Connect probe now runs a real wire session (initiate + cnc_statinfo) instead of a bare TCP check. Full finding, captured wire bytes, validation results, and analysis: docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md

• …-implementation-plan.md. Capture tools: scripts/focas/capture-initiate.py, scripts/focas/capture-v3.py.

Project split

Project	Target	Role
src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/	net10.0	In-process driver — hosts WireFocasClient which speaks FOCAS2 over TCP directly

Previous Driver.FOCAS.Host / Driver.FOCAS.Shared Tier-C split has been retired — the managed wire client removes the native-crash blast radius that justified the out-of-process service.

Minimum deployment

Register the driver instance in the main server's appsettings.json. No separate service, no DLL deployment, no shared-secret handshake:

"Drivers": {
  "focas-cnc-1": {
    "Type": "FOCAS",
    "Config": {
      "Backend": "wire",
      "Devices": [
        { "HostAddress": "focas://10.20.30.40:8193", "Series": "ThirtyOne_i" }
      ],
      "Tags": [
        { "Name": "Mode",  "DeviceHostAddress": "focas://10.20.30.40:8193",
          "Address": "PARAM:3402", "DataType": "Int32", "Writable": false },
        { "Name": "SpndLoad", "DeviceHostAddress": "focas://10.20.30.40:8193",
          "Address": "MACRO:500", "DataType": "Float64", "Writable": false }
      ]
    }
  }
}

The main server opens two TCP sockets per configured device and speaks the FOCAS2 binary protocol directly. No local privileged components, no platform bitness constraint — the driver runs on every host OtOpcUa runs on.

Address forms

Form	Example	Meaning
X0.0 / R100 / R100.3	PMC bit or byte	Letter + number; optional .bit for bit access
PARAM:1815 / PARAM:1815/0	CNC parameter	Number + optional axis index
MACRO:500	Custom macro variable	System / user macro variable number
FIXED:Identity/SeriesNumber	Fixed-tree field	A path into the fixed node tree — read-only
ALARM:* / ALARM:Servo/401-453 / ALARM:OTHER	CNC alarm selector	One Part 9 condition per tag, with the alarm object — see Alarm conditions

PMC letters are series-gated by FocasCapabilityMatrix.PmcLetters; the 16i accepts X Y F G R D (F/G are the CNC-to-PMC / PMC-to-CNC handshake groups its ladders use, #265 — reads only, FOCAS stays read-only), while M C E A K T remain 0i-F / 30i-family.

The first three name a location the driver asks the CNC for on demand. FIXED: does not: it names a field of the per-device fixed-tree snapshot the driver's own poll loop already maintains, so a FIXED: read issues no wire traffic. It exists because the fixed tree is the only part of the FOCAS surface with no address of its own, and v3 publishes nodes only for authored tags — so without a form to author, the fixed tree could not be published at all.

An address never carries the device. A tag's device comes from its raw-tag Device row; an address that also named a host would be a second, conflicting routing channel. This is worth stating because it is exactly what went wrong in #540: browse leaves advertised {deviceHost}/{path} as their reference, the browse-commit wrote that into the address, and every committed tag read BadNodeIdUnknown forever.

Addresses are validated against the per-device Series at InitializeAsync — a config referencing a number outside the documented range for that series fails at load time with an error message naming the limit. See docs/v2/focas-version-matrix.md for the authoritative range table. (FIXED: paths have no numeric range to check; a path the machine does not expose reads BadNodeIdUnknown.)

An address the parser cannot read is rejected when you author it — by the /raw tag modal, and by the deploy-time inspector for config arriving via CSV import or the API. It is not a warning you can deploy past into a driver that skips the tag at startup.

Backend selection

The driver picks its client from Config.Backend:

Value	Client	Use it for
wire (default)	WireFocasClient	Production — pure-managed FOCAS2 over TCP
unimplemented / none / stub	UnimplementedFocasClientFactory	Scaffolding a DriverInstance row before the CNC endpoint is reachable

Fail-fast on unimplemented / none / stub: a driver instance configured with any of these backends now faults immediately at InitializeAsync with a clear error message rather than reporting healthy and then failing on the first read/write/subscribe. The driver moves to Faulted state and the error is visible on the Admin UI driver-status panel. This is intentional — an operator who forgets to switch to "wire" before deploying to production sees a driver fault at startup, not a phantom-healthy driver that silently rejects every request.

Previous backends (fwlib, fwlib32, ipc) have been retired along with Driver.FOCAS.Host and the Fwlib P/Invoke path. Configs that still reference them will throw at startup with a message pointing here.

Capability surface

Capability	Wire path	Notes
IReadable	ReadAsync → cnc_rdpmcrng / cnc_rdparam / cnc_rdmacro	One TCP request/response per read; Focas.Wire serializes requests on socket 2 internally
IWritable	returns BadNotWritable	OtOpcUa is read-only against FOCAS by design — no cnc_wrparam / pmc_wrpmcrng / cnc_wrmacro path is implemented, and none will be (policy: the stranded write/unlock backlog items #268–#271 are won't-do; a write path on a production CNC is a safety decision, not a feature gap)
ITagDiscovery	DiscoverAsync	Emits FOCAS/{device}/{tag} folders per configured device
ISubscribable	polled via shared PollGroupEngine	FOCAS has no push model — subscriptions turn into per-tag polling groups
IHostConnectivityProbe	periodic cnc_rdcncstat	Probe cadence is Probe.Interval; transitions fire OnHostStatusChanged
IPerCallHostResolver	lookup in _tagsByName	Each call routes to the device of the referenced tag
IAlarmSource	polled cnc_rdalmmsg2 via FocasAlarmProjection	One condition per authored ALARM: tag at its RawPath — see Alarm conditions

Ack is a no-op — FANUC clears alarms on its own once the underlying condition resolves, so AcknowledgeAsync swallows the batch rather than surfacing BadNotSupported; the Part 9 acknowledge is applied server-side.

Fixed node tree

Enable a pre-defined hierarchy of CNC nodes populated automatically from cnc_sysinfo + cnc_rdaxisname + cnc_rddynamic2 + related FWLIB calls, so operators get an out-of-the-box view of identity / axes / program / timers without declaring per-address tags.

"Config": {
  "Devices": [ ... ],
  "Tags":    [ ... ],
  "FixedTree": {
    "Enabled": true,
    "PollInterval": "00:00:00.250",       // fast — per-axis dynamic reads
    "ProgramPollInterval": "00:00:01",    // medium — program + mode changes
    "TimerPollInterval": "00:00:30"       // slow — cumulative counters
  }
}

Enabled defaults to false so an upgrade does not grow nodes on configs that never asked for them. You do not have to set it to use the tree: authoring any FIXED: tag arms the poll loop by itself, because committing those tags already says you want it. The flag remains the way to publish the tree without authoring anything (and the browser turns it on for the duration of a browse).

Authoring fixed-tree tags

Browse the device (/raw → device → Browse device…, or the tag modal's Browse machine) and commit the leaves you want. Each leaf carries its own FIXED: address, so the commit produces working tags with no editing. The manual composer next to the browser covers PMC / PARAM: / MACRO: only — fixed-tree paths are discovered from the machine, not composed from parts.

Two caveats worth knowing before you browse:

• A CNC that reports duplicate sibling names is disambiguated automatically (#548): every member of a collision set gets a 1-based occurrence suffix in slot order (Axes/AA_1/, Axes/AA_2/), each reading its own axis, while unique names stay bare (Axes/Y/). ⚠️ The Makino that motivated #548 does not in fact report duplicates — its axes are AA6 and AA7, and the wire layer used to read only 2 of each 4-byte name record. Since the name-record fix those axes publish as Axes/AA6/ and Axes/AA7/; tags committed against Axes/AA_1/… / Axes/AA_2/… on such a machine must be re-browsed and re-committed. The bare name of a duplicate set deliberately does not resolve: a tag authored against Axes/AA/… on such a machine reads BadNodeIdUnknown rather than one arbitrary axis's data. The suffix counts occurrences of the same name, so adding an unrelated axis never renames an existing pair — but if the collision-set membership itself changes (a third AA appears, or one of two is removed), the segments change on the next browse, and previously committed tags on the old segments read Bad until re-committed. The same rule covers spindles.
• Values are dated from the last answered poll, not from the read. If a CNC stops answering, its fixed-tree values go BadCommunicationError rather than continuing to serve the last snapshot as Good; the budget is eight poll cadences, floored at 30 s.

What gets populated (all under FOCAS/{deviceHostAddress}/, addressed as FIXED:{subtree}/{field}):

Subtree	Nodes	Source call
Identity/	SeriesNumber, Version, MaxAxes, CncType, MtType, AxisCount	cnc_sysinfo once at bootstrap
Axes/{name}/	AbsolutePosition, MachinePosition, RelativePosition, DistanceToGo, ServoLoad — one folder per discovered axis	cnc_rdaxisname once + cnc_rddynamic2 + cnc_rdsvmeter per tick
Axes/FeedRate/Actual, Axes/SpindleSpeed/Actual	Current feed + spindle RPM	cnc_rddynamic2
Spindle/{name}/	Load (Float64, % of rated load), MotorSpeedPct (Float64, % of maximum speed) — one folder per discovered spindle	cnc_rdspdlname once + cnc_rdspmeter type 0 + type 1 per tick
Program/	Name (filename), ONumber, Number, MainNumber, Sequence, BlockCount — a field the CNC did not report (refused sub-read, payload without an O-number) reads BadNoData, never 0	cnc_exeprgname2 + cnc_rdblkcount + cached cnc_rddynamic2
OperationMode/	Mode (int), ModeText ("AUTO", "MDI", "EDIT", …)	cnc_rdopmode
Status/	Auto, Run, Motion, Mstb, Emergency, Alarm, Edit, TmMode (raw FANUC codes, Int32) + RunText ("RESET", "STOP", "HOLD", "START", "MSTR") — see CNC status flags	cnc_statinfo (polled on ProgramPollInterval)
Timers/	PowerOnSeconds, OperatingSeconds, CuttingSeconds, CycleSeconds	cnc_rdtimer × 4

CNC status flags (Status/)

cnc_statinfo (the ODBST block) is exposed as read-only FIXED:Status/<field> nodes (#257). Values are the control's raw codes, published verbatim as Int32 so a client sees exactly what the CNC reported:

Field	Codes
Run	0 RESET, 1 STOP, 2 HOLD, 3 START, 4 MSTR (RunText is the label)
Auto	operation mode (0 MDI, 1 MEM, 3 EDIT, 4 HND, 5 JOG, … — control-dependent)
Motion	0 none, 1 axis motion, 2 dwell
Mstb	0 idle, 1 executing an M/S/T/B function
Emergency	0 not, 1 emergency stop, 2 reset
Alarm	0 none, 1 alarm, … (battery-low etc. are control-dependent)
Edit, TmMode	program-edit state; T/M mode

Author one the same way as any fixed-tree tag — FIXED:Status/Run (Int32), FIXED:Status/RunText (String). Like Program/, the subtree is gated on a bootstrap probe: a control that refuses cnc_statinfo gets no Status/ nodes and the rest of the tree is unaffected. Reads are served from the poll snapshot, so they issue no wire traffic and go BadCommunicationError once the device has stopped answering.

Per-series node suppression

The driver probes each optional call once at bootstrap. If the target CNC returns EW_FUNC / EW_NOOPT / EW_VERSION on the wire, the corresponding subtree is not emitted — the operator doesn't see nodes that will only ever return BadDeviceFailure. Capability suppression covers Spindle/, Program/ + OperationMode/, Status/, Timers/, and per-axis ServoLoad independently. Identity + Axes/* position reads (which every Fanuc CNC supports) are always emitted.

Position values (AbsolutePosition, MachinePosition, RelativePosition, DistanceToGo) are published as Float64 in engineering units. Each cnc_rddynamic2 position block carries its own scale — [i32 raw][u16 base][u16 exponent], value = raw / base^exponent (a real 31i-B reports base 10 / exponent 4: 2801574 → 280.1574 mm) — and the driver always applies it. A block that describes no usable position (the 0xFFFF vacant-slot marker, a base other than 2 or 10, an exponent > 18) publishes BadNoData on that node alone.

PositionDecimalPlaces (per device, default 0) is now only the fallback for a block that carries no scale (a 4-byte payload, e.g. an older simulator): such a position is divided by 10^PositionDecimalPlaces. Negative values are clamped to 0.

"Devices": [
  {
    "HostAddress": "focas://10.20.30.40:8193",
    "Series": "ThirtyOne_i",
    "PositionDecimalPlaces": 3   // only used if the CNC's blocks carry no scale
  }
]

There is no cnc_getfigure read: the 0x00D3 command the driver used to send is not a FOCAS wire command (a real 31i-B refuses it with rc=1), so on hardware every axis had silently fallen back to PositionDecimalPlaces and published raw counts.

Still hand-authored: PARAM:6711, MACRO:500, R100 etc. — specific numbers whose meaning is MTB-specific, and which no browse can discover. Those go under the device folder alongside the fixed subtree.

Parts count (PARAM:6711)

There is deliberately no dedicated parts-count node (#258): the count is an ordinary CNC parameter, so it is already readable as a hand-authored PARAM: tag (Int32), and a fixed Parts/ subtree would hard-code parameter numbers that are control- and MTB-specific. On the standard FANUC 0i / 16i / 30i parameter map:

Address	Parameter	Meaning
PARAM:6711	No. 6711	Number of parts machined (resets with the operator's clear)
PARAM:6712	No. 6712	Total number of parts machined (cumulative)
PARAM:6713	No. 6713	Number of parts required (the target)

The count-up trigger (which M code or cycle end increments it) is set by No. 6710 and bit 0 of No. 6700, so confirm in the machine's parameter manual that the counter is actually enabled and that 6711–6713 mean what the MTB says they mean before relying on them. Cycle time per part is not provided; the Timers/ subtree exposes CycleSeconds and a client can difference it across a PARAM:6711 change.

PMC range coalescing

A poll batch that reads several nearby PMC tags used to issue one pmc_rdpmcrng per tag. The driver now merges tags of the same PMC letter and width that sit close together into one range read and slices each tag's value out of the result (#266). Single, isolated PMC tags — the common "one tag per area" case — are read exactly as before.

"PmcCoalesce": {
  "Enabled": true,       // default
  "MaxSpanBytes": 128,   // hard cap on one merged range
  "MaxGapBytes": 8       // bytes nobody asked for tolerated between two merged tags; 0 = only strictly adjacent
}

Rules worth knowing:

• Tags merge only within the same letter and width class (Bit and Byte are one class; Word, Long, Float, Double are separate). A multi-byte tag joins a range only when its offset from the range start is a multiple of its width, because the CNC splits a range into width-sized slots from the start.
• Spare gap bytes must be valid PMC addresses. A gap that crosses a hole in the CNC's PMC map makes the CNC refuse the whole range. That is handled, not fatal: a refused range is remembered per device and its tags are read individually, each with its own true status (a refusal is never stamped onto healthy members). If that happens routinely, lower MaxGapBytes (0 disables gap-spanning entirely) or set Enabled to false.
• A transport failure or timeout on the merged read fails every member with BadCommunicationError and does not retry per tag — the link is down, so per-tag retries would only multiply timeouts.
• Read-only: this changes pmc_rdpmcrng reads only; nothing here can write.

The config key lives in the driver Config JSON. The AdminUI typed form does not yet surface it (an unknown key edited through that form is dropped), so set it in the raw config.

Alarm conditions (ALARM:, Gitea #647)

A FANUC CNC exposes one flat active-alarm list per device (cnc_rdalmmsg2), not one structure per alarm. The driver maps that list onto Part 9 conditions through authored raw tags: a tag whose address is an ALARM: selector and whose TagConfig carries the cross-driver alarm object becomes exactly one condition, with ConditionId = the tag's RawPath (the key the host routes on). Same opt-in-per-tag shape as MTConnect CONDITION alarms (#626).

// raw tag TagConfig
{ "address": "ALARM:Servo/401-453", "dataType": "Int32",
  "alarm": { "alarmType": "AlarmCondition", "severity": 800 } }

Address	Condition is active while…
ALARM:*	any alarm is active on the tag's device (device summary)
ALARM:Servo / ALARM:T4	any alarm of that type is active (a type name, or a raw type code T<code>)
ALARM:Servo/401	that type + number is active
ALARM:Servo/401-453	that type, number in the inclusive range
ALARM:OTHER	an alarm is active that no type selector on the same device claims — the "unmatched" bucket

Type names: Parameter, PulseCode, Overtravel, Overheat, Servo, DataIo, MemoryCheck, MacroAlarm (case-insensitive). The grammar is FocasAlarmSelector in the Contracts assembly, and it is the one authority: the /raw tag modal, the address picker ("CNC alarm (condition)"), the deploy-time inspector and the driver's init all parse with it, and a malformed selector gets the same reason text from the editor and the gate.

⚠️ The type table is the 16i/18i/21i-era ALM_* numbering (Parameter=0, PulseCode=1, Overtravel=2, Overheat=3, Servo=4, DataIo=5, MemoryCheck=6, MacroAlarm=13) and is the only one the driver knows. The 30i/31i/32i series number alm_type differently; that table has not been confirmed against a FOCAS reference, so it is deliberately not encoded — a guessed code would silently route the wrong alarms. On a 30i-series control (the Makino is a 31i-B) a type name may therefore select the wrong family. Use the raw-code form there: every condition message carries the raw code (… (type 4 Servo, axis 1)), so observe it, then author ALARM:T<code>. Number ranges are series-independent.

Semantics.

• Identity is (type, number). Cross-family number collisions exist. The axis is not part of the key: one alarm number reported on two axes is one alarm, and the message lists both axes.
• Overlap is intended. One servo alarm drives ALARM:Servo and ALARM:*. * summaries and OTHER tags never claim an alarm, so a summary beside OTHER does not starve it.
• Displayed alarm = the most severe matching one (by the type table), ties to the lowest (type, number) — never wire order, so a reordered list cannot re-raise. Message: 401 SERVO V-READY OFF (type 4 Servo, axis 1) [+2 more]; a summary condition whose read hit the per-read cap (32) adds [alarm list truncated] (and the driver warns once).
• Transitions (AlarmEventArgs.Kind — the host's projector reads nothing else): inactive → active = Raise; a key not in the matched set appears = Retrigger (un-acknowledges: a new CNC alarm is a statement the operator has not seen); the displayed alarm leaves while others remain = Retrigger with the next one down (the MTConnect precedent); a non-displayed member leaves = nothing; nothing matches = Clear.
• Severity, explicitly. An authored integer alarm.severity is the condition's exact Part 9 severity (OpcUaSeverity; the host clamps 1..1000). Without one, the bucket comes from the displayed alarm's type: Overtravel / Servo / PulseCode → Critical (900), Parameter / MacroAlarm → Medium (500), everything else including unknown codes → High (700). On a 30i-series control, author a severity rather than rely on the 16i-era table. Note the AdminUI native-alarm editor always writes a severity, so a UI-authored tag always uses its authored value; the type table applies to an alarm object that carries none (CSV import, API).
• Unmatched alarms — active, but selected by no *, OTHER or type tag on the device — are logged once each at Information.

Delivery and failure.

• A failed read is not "no alarms". IFocasClient.ReadAlarmsAsync throws on a down session, a non-OK return code or a wire fault; that device is skipped for the tick and its conditions keep their state. (It used to answer [], which would have cleared every alarm on a comms blip and re-raised them un-acknowledged on recovery.) Driver-wide comms loss is the host's BadNoCommunication quality annotation (#477) — Active is kept.
• Diffed against what the server was TOLD, recorded only while a handler is attached, and held for the driver's lifetime: a reconnect (same-set re-subscribe), a re-initialise and a shutdown/init cycle re-raise nothing, so an acknowledgement survives them. A changed subscribed set (an alarm-bearing deploy) prunes only the RawPaths that left (#641).
• Polling: one cnc_rdalmmsg2 per AlarmProjection.PollInterval (default 2 s) for each device that owns a subscribed alarm tag; devices without one are never polled for alarms.
• Opt-in is the tag. AlarmProjection.Enabled is retained so old configs bind, and has no effect. Before #647 SubscribeAlarmsAsync threw while it was false, so an authored alarm tag on a default config stayed gated with a Warning on every reconnect.
• Read-only. Nothing is ever written to the CNC. Acknowledge and AddComment are applied server-side (native conditions support only those two methods); AcknowledgeAsync is a no-op success. The CNC clears an alarm when its cause is reset.

Authoring mistakes are skipped and reported (the driver's skipped-tags ledger + a deploy-time advisory): an ALARM: address without the alarm object (not a condition, and no value to read), and an alarm object on a non-ALARM: address (a condition nothing can raise). Reading an ALARM: tag's RawPath through the driver returns BadNotSupported; writing it, BadNotWritable.

Known residuals. Whether the alarm list itself flickers at a CNC reset (the status word does, one poll) is unobserved; if the live gate shows it, a clear-debounce knob is the follow-up. Real-machine raise/clear is only observable passively — never induce an alarm on a production control.

Handle recycling

FANUC CNCs have a finite FWLIB handle pool (~5–10 concurrent connections) and certain series have documented handle-leak bugs that manifest after long uptime. The driver can proactively close + reopen each device's session on a cadence to release its slot back to the pool:

"Config": {
  "Devices": [ ... ],
  "HandleRecycle": {
    "Enabled": true,
    "Interval": "01:00:00"
  }
}

Disabled by default — a healthy CNC + driver doesn't need it. Enable when field experience shows handle exhaustion. Typical tuning: 30 min for sites running multiple OtOpcUa instances against the same CNC (they share the pool); 6 h for a single-client deployment. Reads / writes during recycle simply wait for the reconnect rather than failing — worst case, an operator sees a brief read latency spike once per cadence.

Testing

• Unit tests — tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/ cover the driver surface via FakeFocasClient. FocasAlarmSelectorTests pins the ALARM: grammar and the inspector; FocasAlarmProjectionTests the transitions, OTHER, failed-read-keeps-state and the told record. The end-to-end proof that a CNC alarm reaches a condition is FocasNativeAlarmEndToEndTests in Runtime.Tests (real driver → DriverHostActor.ForwardNativeAlarm → NativeAlarmProjector).
• Integration tests — tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests/ hold the Docker simulator scaffold (OTOPCUA_FOCAS_SIM_ENDPOINT=host:port; they skip when it is absent; Series/WireBackendStatusAndPmcTests covers Status/ and PMC coalescing against the mock's statinfo and pmc state); see docs/v2/implementation/focas-wire-protocol.md for what the simulator emits vs. real CNC behaviour.
• E2E script — scripts/e2e/test-focas.ps1 stages Host + Proxy + a real CNC (or the simulator) and exercises connect → read → write → subscribe round-trips. See docs/drivers/FOCAS-Test-Fixture.md for the coverage map.

Troubleshooting

Symptom	Likely cause	Fix
Driver faults immediately at startup with "unimplemented" in the error	Backend is "unimplemented" / "none" / "stub"	Change Backend to "wire" and supply the real CNC endpoint in Devices[]
BadCommunicationError on every read	CNC unreachable on TCP:8193	Check firewall / LAN reachability; FOCAS Ethernet option must be licensed on the CNC side
Every read returns BadNotWritable on writes	Expected — OtOpcUa is read-only against FOCAS	If you actually need writes, open a feature request — the driver's managed wire client doesn't expose the write commands
BadOutOfRange on reads for a macro/parameter	Config address outside the declared Series range	Check docs/v2/focas-version-matrix.md — either fix the address or widen the Series
An ALARM: condition never activates	The tag lacks the alarm object, or an alarm object sits on a non-ALARM: address (both are skipped — check the skipped-tags report); or, on a 30i-series control, a type name selects the wrong 16i-era code	Pair the address with the alarm object; on a 30i use the raw ALARM:T<code> form, reading the code from an ALARM:* condition's message
Axis position values seem 1000× too large	The CNC's position blocks carry no scale (older control / simulator) and PositionDecimalPlaces is not set	Add "PositionDecimalPlaces": 3 (or the MTB-specific value) to the device entry in Devices[]. A real 30i/31i carries the scale in each block and needs no setting
A fixed-tree node or MACRO: tag reads BadNoData	The CNC answered but described no value — a vacant macro variable, an undescribable position/meter record, a program field it did not report	Check the address on the control; this is the control's answer, not a comms fault
An integer-typed MACRO: tag reads BadTypeMismatch	The macro holds a fractional value (e.g. 148.5)	Author the tag as Float64, or point it at a whole-valued variable — a fraction is never truncated into an integer tag

Wire decode corrections (2026-10)

Each of these decoded without ever failing — just wrongly — so live validation that only checked "the read succeeds" passed them. All were found by the sister ignitionoee FOCAS driver against a real Makino 31i-B (Z-34184, series G431) and ported here with its captured payloads as test fixtures (tests/.../Driver.FOCAS.Tests/Fixtures/v3/). Client-visible changes are marked ⚠️.

What	Before	Now
cnc_rdmacro decimal	read at payload offset 4 — a constant 10 length field — so #500 = 1.0 published 0.01	dec_val at offset 6; mantissa / 10^dec. Vacant variable → BadNoData; fractional value on an integer tag → BadTypeMismatch; integer tags receive the exact whole value
Axis positions	scaled by cnc_getfigure (0x00D3), which does not exist — on hardware: raw counts	scaled by each block's own base^exponent; undescribable block → BadNoData
Axis / spindle names	first 2 of 4 record bytes — AA6/AA7 collapsed to AA	whole record up to the first NUL (residue after it discarded) — ⚠️ Axes/AA_1→Axes/AA6 on such a machine
ServoLoad	value / 10^base (offset 4 is the base, 10) — always ~0	value / base^exponent, a direct percentage
Spindle/{n}/Load	raw meter count, Int32 (9155)	⚠️ Float64 % of rated load (55.9): the meter is a 1/16384 fraction of full scale
Spindle/{n}/MaxRpm	the type-1 meter read once at bootstrap and served as a "max RPM"	⚠️ renamed MotorSpeedPct, Float64 % of maximum speed, polled every tick
Program ONumber / Name / BlockCount / Mode	defaulted to 0 / "" when not reported (Mode 0 = MDI)	BadNoData

Not ported (and why): the ignitionoee RunState run-word decode and fault debounce (this driver publishes no run-state — cnc_statinfo is used only as the connectivity probe); cnc_rdparam3 (0x008D) and its echo guard (this driver never sends 0x008D — the real 31i-B answers it with 264-byte records that are not a parameter read); the IODBPSD-offset and Fanuc-real FLOAT re-interpretation of cnc_rdparam (no successful cnc_rdparam capture exists on either side — the reference 31i-B refuses it with EW_FUNC, which already reads BadNotSupported here); and the all-axes multi-block cnc_rddynamic2 batching (a latency optimisation, not a correctness fix).

Further reading

• docs/v2/driver-specs.md §7 — full OPC UA node mapping, pre-defined tag set, per-API notes
• docs/v2/focas-version-matrix.md — per-series macro / parameter / PMC range table
• docs/v2/implementation/focas-wire-protocol.md — captured FOCAS2 wire semantics (magic prefix, handshake, command-id table)
• upstream Focas.Wire — the managed client implementation OtOpcUa consumes as a NuGet dependency