Introduction

NUM Flexium Control Driver is part of the HumanOS® Runtime. It allows to integrate NUM Controls into the smart industrial machining platform.

This document explicitly describes the NUM driver. For common description on HumanOS® Runtime, Software Design and device information files, see the "Operation Manual".

NUM Control Driver

The NUM Flexium Control Driver is a ubiquitous hardware abstraction (UHAL) plugin of HumanOS® Runtime. It allows to integrate NUM Controls into the world of Smart Industrial Machining. The plugin is an event-based plugin for high performance.

This manual helps system engineers to configure and maintain the NUM Flexium Control Driver and HumanOS® Runtime setups.

NUM Gateway

The NUM Flexium Control Driver uses the NUM FX Server and optional the Flexium Gateway.

The driver uses the Gateway-Gateway (GW-GW) connection.

Contact NUM AG to get the latest version of mentioned packages. These components are included in the NUM HMI package, as well as the Toolkit (license needed). For easy setup just install the HMI package and check following settings when installing:

Click yes if the Gateway isn't installed yet:

After installation, the FXServer needs to be connected to the NUM Control. The FXserver can be found here if installed with standard settings: C:\Program Files\NUM\Flexium HMI\FXServer\Bin

1. Click on the Symbol in the windows task list:

Image	Description
	FXServer has no connection
	FXServer connected to target (careful, if connection gets interrupted symbol doesn't refresh)

Make sure the firewall accepts the outgoing port 1217!

2. Scan the devices, set your NUM control active, check "Connect by Name" and click "connect".

3. Input the address of the gateway in the device information file (address tag). If running HumanOS® directly on the NUM IPC, use "localhost:FxServer" as connection address.

NUM Device Configuration

The NUM Flexium Control Driver needs the FXServer to establish a connection to the NUM Control IPC.

Several connections can be managed by the FXServer, but only one connection can be active. This limits the cardinality of connecting NUM devices to HumanOS® IoT platform:

IMPORTANT

ONE HumanOS® IoT Gateway instance can access only ONE NUM Device.

IMPORTANT

If the HumanOS® IoT Gateway is registered as a service in the system context, the FX server cannot be started via gateway.
You can run the service in the user context or make sure the FX Server is started in some other way.

Device Information File

The NUM Device information file contains

• Data Access Points
• Alarm Source

Detailed reference for device information files, see the HumanOS® Operational Manual chapter "Device Information File".

Connection Address

The Addresses for NUM Controls are their serial numbers.

You can find the serial number in Flexium HMI under "Diag; NCCfg".

caution

CAUTION: The Address in HumanOS® must be written without a point.

Example: "295754.00" must be "29575400"

Example:

{
  "Id": "13E03A96-717E-4672-989C-7BFAF8476B0A",
  "Name": "Device",
  "DriverId": "EFFD2B2F-89B0-4D38-BAC5-E6BFC3EA7498",
  "Address": "29575400",
...
}

Driver Configuration

The driver configuration file is named "settings.json" located in: $(InstallDirectory)\Config\HumanOS.UHAL.NumControl.Flexium\ that contains all settings of the NUM control driver.

NumRoto Configuration

The element "NumRoto" contains all settings that belong to NumRoto. Currently only the data point MachineActivity can be specified here.

Machine Activity Configuration

The MachineActivity element contains the following settings:

Attribute	Description	Data Type
EParameterRegistryKey	Registry Key of Machine Activity EParameter	System.String
EParameterRegistryPath	Registry Path of Machine Activity EParameter	System.String

Configuration Example

Following Example shows a NUM Control Driver Configuration:

{
  "Disabled": false,
  "NumRoto": {
    "MachineActivity": {
      "EParameterRegistryKey": "EparamMachineActivity",
      "EParameterRegistryPath": "HKEY_CURRENT_USER\\SOFTWARE\\NUMROTO\\NUMROTOplus"
    }
  },
  "Devices": [
    {
      "MainTaskProcessor": {
        "Name": "MainTaskProcessor",
        "ProcessingPriority": "Normal",
        "MaxSchedulingTimeSlice": 200,
        "MinSchedulingTimeSlice": 10
      }
    }
  ]
}

Device Commands

NUM Flexium Control Driver offers several commands to control and manage the CNC devices.

danger

These commands can cause unwanted behavior on the CNC machine. The target device is overwritten when sending these commands! Caution when doing so.

Overview

Command	Description
Cnc{c}.Nc{n}.activateProgram	Activates a program for an independent axis channel
Cnc{c}.Common.activateProgram	Activates a program for common axis channels
Cnc{c}.Common.resetCnc	Resets the Cnc for common axis channels
Cnc{c}.Nc{n}.startCnc	Starts the Cnc for an independent axis channel
Cnc{c}.Nc{n}.resetCnc	Resets the Cnc for an independent axis channel
Cnc{c}.Common.startCnc	Starts the Cnc for common axis channels
Cnc{c}.Nc{n}.stopCnc	Stops the Cnc for an independent axis channel
Cnc{c}.Common.stopCnc	Stops the Cnc for common axis channels
Cnc{c}.Nc{n}.writeCncMode	Writes the Cnc mode for an independent axis channel
Cnc{c}.Common.writeCncMode	Writes the Cnc mode for common axis channels
Cnc{c}.Cnc.writeParameter	Writes an Parameter (E Parameter, ...)

ActivateProgram

Activates a program. There are two possibilities to activate a program:

• Activate a Program for an independent axis channel, then the NC channel is required.
• Activate a Program for common axis channels.

You must choose the option with the command address.

Argument	Description	Data Type
ProgramName	Program name to activate. Example: NUM File %123.0 equals program name "123.0".	System.String

Example:

{
  "Id": "<generate your own id>",
  "Name": "Activate Program",
  "Type": "CommandNode",
  "Address": "Cnc0.Common.activateProgram",
  "Arguments": [
    {
      "Name": "ProgramName",
      "DataType": "System.String",
      "Type": "Input"
    }
  ]
}

resetCnc

Resets the Cnc. There are two possibilities to reset the Cnc:

• Reset Cnc for an independent axis channel, then the NC channel is required.
• Reset Cnc for common axis channels.

You must choose the option with the command address.

This function does not require any arguments.

Example:

{
  "Id": "<generate your own id>",
  "Name": "Reset Cnc ",
  "Type": "CommandNode",
  "Address": "Cnc0.Common.resetCnc",
  "Arguments": []
}

startCnc

Starts the Cnc. There are two possibilities to start the Cnc:

• Start Cnc for an independent axis channel, then the NC channel is required.
• Start Cnc for common axis channels.

You must choose the option with the command address.

This function does not require any arguments.

Example:

{
  "Id": "<generate your own id>",
  "Name": "Start Cnc ",
  "Type": "CommandNode",
  "Address": "Cnc0.Common.startCnc",
  "Arguments": []
}

stopCnc

Stops the Cnc. There are two possibilities to stop the Cnc:

• Stop Cnc for an independent axis channel, then the NC channel is required.
• Stop Cnc for common axis channels.

You must choose the option with the command address.

This function does not require any arguments.

Example:

{
  "Id": "<generate your own id>",
  "Name": "Stop Cnc ",
  "Type": "CommandNode",
  "Address": "Cnc0.Common.stopCnc",
  "Arguments": []
}

writeCncMode

Writes the Cnc mode. There are two possibilities to write the Cnc mode:

• Write Cnc mode for an independent axis channel, then the NC channel is required.
• Write Cnc mode for common axis channels.

You must choose the option with the command address.

Argument	Description	Data Type
CncMode	Cnc mode to activate (See "Dynamic information" in chapter Memory Address)	System.Int32

Example:

{
  "Id": "<generate your own id>",
  "Name": "Select Cnc mode",
  "Type": "CommandNode",
  "Address": "Cnc0.Common.writeCncMode",
  "Arguments": [
    {
      "Name": "CncMode",
      "DataType": "System.Int32",
      "Type": "Input"
    }
  ]
}

writeParameter

Writes a Parameter.

caution

Be careful when writing E-Parameters. These values can contain relevant machine configurations.

Argument	Description	Data Type
Address	Parameter address in Format "Yxxxxx"	System.String
Value	Value for this parameter. Caution: Only the Flexium+ CNC Series accept floating point values.	System.Double, System.Int32

Example:

{
  "Id": "<generaze your own id>",
  "Name": "Write E Parameter",
  "Type": "CommandNode",
  "Address": "Cnc0.Cnc.writeParameter",
  "Arguments": [
    {
      "Name": "Address",
      "DataType": "System.String",
      "Type": "Input"
    },
    {
      "Name": "Value",
      "DataType": "System.Double",
      "Type": "Input"
    }
  ]
}

Alarm and Events

To get the alarms the FxLog COM Server is used.

Addresses

The NUM Flexium Control Driver supports CNC Alarms. The Address for the alarms is following:

Address	Description	Data Type
Cnc{c}.Nc{n}.NcAlarmEvent:0	System Alarm and operator message reader.	TAlarmEvent[]

Alarm Messages

Messages are not acknowledged by the HumanOS® IoT Platform. Typically, this is done by the NUM system using the RESET button.

The message standard fields are

Field Name	Description	DataType
ConditionName	Contains the alarm number given by the NUM control. Is built of $(error-nr)[$(extension)] e. g. 54[0]	System.String
Message	Message content	System.String
SourceName	Name of the alarm or message source, e.g. Cnc0/Nc0/RTSMessage	System.String
Active	Flag if the alarm is still pending on the NUM side	System.Boolean

A more detailed description of Alarm Messages can be found in the operation manual, chapter [AlarmEventPools].

Additional Message Properties

Alarm messages are enriched with additional properties coming from the NUM interface:

Property Name	Description	DataType
Message:ErrorNumber	Native alarm number from NUM control	System.String
Message:Extension	Native extension number from NUM control	System.String
Message:ErrorType	Error type, e. g. RTSMessage	System.String
Message:ErrorIndex	Error index, that is NcChannel for CNCMessage types or drive address for driver errors	System.String
Message:CncBlock	Number of the cnc block (valid for CNC messages)	System.String
Message:CncLine	Line number (valid for CNC messages, only Flexium+)	System.String
Message:Additional	Additional error information from NUM control	System.String

Customer specific Message Properties

Custom specific messages can be added directly at the task of the device info model. They all must start with "Message:" and are automatically passed to all messages coming from the alarm task.

Example:

"AlarmEventPool": {
  "Id": "{6F9BC0F1-0CF1-4537-AFBA-D411277BCAA4}",
  "Name": "AlarmEventPool",
  "Tasks": [
    {
      "Id": "{29D076CA-2123-4156-90C2-8D72AB480985}",
      "Name": "Standard Messages",
      "Address": "Cnc0.Nc0.NcAlarmEvent:0",
      "Properties": [
        {
          "Name": "Message:mqtt:Topic",
          "Value": "MachineState/ActAlarms"
        }
      ]
    }
  ]
},

Memory Addresses

This chapter outlines all possible native addresses. These addresses must be configured within the device configuration.

Format

A native NUM address has following format:

{memory base}.{memory channel}.{memory type}.{data type}:{address}(°{axis letter})

{axis letter} is optional and only allowed in Axis

Memory Base

The CNC control provides different bases for memory:

Memory Base	Description
Global	Global memory base.
Cnc{c}	Cnc memory base. For the Num Flexium Control Driver are maximal 16 cnc's available. This number equals the configured cnc Address of the cnc control. (0...15)

Memory Channel

The CNC control provides different channels for memory:

Memory Base	Memory Channel	Description
Global	System	Global memory base.
Cnc{c}	Nc{n}	Nc memory base. For the Num Flexium Control Driver are maximal 8 Nc channels available. This number equals the configured nc Address of the cnc control. (0...7)
Cnc{c}	Common	Common memory base, it means all NC channels together
Cnc{c}	Cnc	All Cnc Data
Cnc{c}	Plc	All Plc Data

Memory Type

Each memory base can have one or several memory types.

Memory Base	Memory Type	Description
System	Control	Global CNC Information
Nc{n}	Program	Program Information
Nc{n}	Axis	Axis positions and Speeds (absolute pos, machine pos, ...)
Nc{n}	Dynamic	Operation Mode, Feedrate, ...
Cnc	Parameter	CNC E Parameters
Plc	Variables	Plc Variables and E Parameters (e.g. Running state, ...)

Data Types

Data Type	Description	System Data Type
Bool	Bit information. 0 = not set; 1 = set	System.Boolean
Uint8	Byte information (unsigned 8bit integer)	System.Byte
Uint16	Word information (unsigned 16bit integer)	System.UInt16
Uint32	DWord information (unsigned 32bit integer)	System.UInt32
Uint64	Long information (unsigned 64bit integer)	System.UInt64
Int32	Signed integer (32bit)	System.Int32
Int64	Signed integer (64bit)	System.Int64
Float64	Floating point number (64bit)	System.Double
String	String information	System.String

Axis Letters

String Data	Int Data	Description
X	0	Axis name of X Axis
Y	1	Axis name of Y Axis
Z	2	Axis name of Z Axis
U	3	Axis name of U Axis
V	4	Axis name of V Axis
W	5	Axis name of W Axis
A	6	Axis name of A Axis
B	7	Axis name of B Axis
C	8	Axis name of C Axis

Examples

Cnc0.Nc0.Program.Int32:1 address of the current program number

Global System Configuration

The global system configuration can only be read or monitored. Writing is not possible.

Address	Description	Data Type
Global.System.Control.Int32:0	Connection status of the control (0 = Disconnected, 1 = Connected)	System.Int32
Global.System.Control.String:1	Control Name	System.String
Global.System.Control.String:2	Control Identifier	System.String
Global.System.Control.Int32:3	Get the number of configured CNC axis channel	System.Int32
Global.System.Control.Int32:4	Get the number of NCKs	System.Int32
Global.System.Control.Int32:5	Sign of life toggle bit (in 1 Hz if connected)	System.Int32
Global.System.Control.Int32:6	Get the number of PLC and NC channels	System.Int32

Nc Program Configuration

The Nc Program configuration can only be read or monitored. Writing is not possible.

Address	Description	Data Type
Cnc{c}.Nc{n}.Program.Int32:0	Available G-Function **	System.Int32
Cnc{c}.Nc{n}.Program.Int32:1	Current program	System.Int32
Cnc{c}.Nc{n}.Program.Int32:2	Current block number	System.Int32*
Cnc{c}.Nc{n}.Program.Int32:3	Program error	System.Int32*
Cnc{c}.Nc{n}.Program.Int32:4	Block error number	System.Int32*
Cnc{c}.Nc{n}.Program.Int32:5	Current tool	System.Int32*
Cnc{c}.Nc{n}.Program.Int32:6	Tool direction **	System.Int32
Cnc{c}.Nc{n}.Program.Int32:7	Corrector number	System.Int32*
Cnc{c}.Nc{n}.Program.Int32:8	Left function ** (remaining treatment)	System.Int32
Cnc{c}.Nc{n}.Program.Int32:9	Current line number (only Flexium+)	System.Int32
Cnc{c}.Nc{n}.Program.Int32:11	G92F (axes list) ** (only Flexium+)	System.Int32
Cnc{c}.Nc{n}.Program.Int32:10	Line number in error (only Flexium+)	System.Int32
Cnc{c}.Nc{n}.Program.Int32:12	Loaded tool number (only Flexium+ and FX server version minimal 4.1.0.0)	System.Int32
Cnc{c}.Nc{n}.Program.String:100	Get the changing of the the part program number with their call stack	System.String
Cnc{c}.Nc{n}.Program.String:101	Main program name	System.String
Cnc{c}.Nc{n}.Program.String:102	Comment line of the current main program	System.String
Cnc{c}.Nc{n}.Program.String:103	File name of the current program	System.String
Cnc{c}.Nc{n}.Program.String:104	Current Operator Message	System.String

• The value from control is an Int16 value. But it has been converted to an Int32 value by HumanOS®.

Available G-Function **

Bit Nr	GFunction	Bit Nr	GFunction
0	G00	15	G22
1	G01	16	G40
2	G02	17	G41
3	G03	18	G42
4	G04	19	G53
6	G38	20	G54
7	G09	21	G29
8	G17	23	G93
9	G19	24	G94
10	G18	25	G95
11	G90	27	G96
12	G91	28	G97
13	G70	30	G20
14	G52	31	G21

Tool Direction **

Bit Nr	Value
0	G16 P+
1	G16 Q+
2	G16 R+
8	G16 P-
9	G16 Q-
10	G16 R-

Left Function **

Bit Nr	Value
0	G78 P..
1	End of external movement (FMEXT)
2	Decoded M function
3	Encoded M function
4	G04
5	G09
6	Circle execution
7	Linear execution
8	JOG
11	ARUS
13	Encoded M function without ack. (before)
15	T function

G92F **

Bit Nr	Axis
0	X Axis available
1	Y Axis available
2	Z Axis available
3	U Axis available
4	V Axis available
5	W Axis available
6	A Axis available
7	B Axis available
8	C Axis available

Dynamic Information

The Dynamic configuration can only be read or monitored. Writing is not possible.

Address	Description	Data Type
Cnc{c}.Nc{n}.Dynamic.Int32:0	Operation Mode **	System.Int32
Cnc{c}.Nc{n}.Dynamic.String:0	Operation Mode as String	System.String
Cnc{c}.Nc{n}.Dynamic.Int32:1	Preselected operation mode as int	System.Int32
Cnc{c}.Nc{n}.Dynamic.Int32:2	Feedrate in percent	System.Int32
Cnc{c}.Nc{n}.Dynamic.String:1	Preselected operation mode as string	System.String
Cnc{c}.Nc{n}.Dynamic.Float64:3	Interpolation feed of the NC	System.Double
Cnc{c}.Nc{n}.Dynamic.Float64:4	Programmed feed	System.Double

Operation Mode **

Value	Operation Mode
0	MDI
1	Auto
2	Single
3	Edit
4	Manual
5	Rapid
6	Test
7	Search
8	Home
9	Shifts
11	No Mode
13	Load

Nc Axis Configuration

Reading the axis positions.

Address	Description	Data Type
Cnc{c}.Nc{n}.Axis.Float64:0	Machine positions	System.Double[]
Cnc{c}.Nc{n}.Axis.Float64:1	Offset positions (absolute positions)	System.Double[]
Cnc{c}.Nc{n}.Axis.Float64:2	End positions	System.Double[]
Cnc{c}.Nc{n}.Axis.Float64:3	Delta (Distance to go)	System.Double[]

Each of these memories can be also read by axis number:

Address	Description	Data Type
Cnc{c}.Nc{n}.Axis.Float64:0°{y}	Machine position of axis {y}	System.Double
Cnc{c}.Nc{n}.Axis.Float64:1°{y}	Absolute position of axis {y}	System.Double
Cnc{c}.Nc{n}.Axis.Float64:3°{y}	Distance to go of axis {y}	System.Double
Cnc{c}.Nc{n}.Axis.Float64:2°{y}	Relative position of axis {y}	System.Double

Spindle Data

Reads the spindle information. The spindle number {y} is in rage 0 to 31.

Address	Description	Data Type
Cnc{c}.Nc{n}.Spindle.Uint8:0°{y}	Assigned axis group	System.Byte
Cnc{c}.Nc{n}.Spindle.Uint8:1°{y}	Mode (Bit0=1 → M3; Bit1=1 → M5; Bit2=1 → M4; Bit3=1 → M19)	System.Byte
Cnc{c}.Nc{n}.Spindle.Int32:2°{y}	Feedrate override in %	System.Int32
Cnc{c}.Nc{n}.Spindle.Float64:3°{y}	Programmed spindle speed	System.Double
Cnc{c}.Nc{n}.Spindle.Float64:4°{y}	Real spindle speed	System.Double
Cnc{c}.Nc{n}.Spindle.Uint8:5°{y}	Speed type (Bit0=0 → S5.0; Bit0=1 → S6.0; Bit1=1 → S3.2)	System.Byte
Cnc{c}.Nc{n}.Spindle.Uint8:6°{y}	Spindle is valid	System.Byte
Cnc{c}.Nc{n}.Spindle.Uint8:7°{y}	Logical index in the system	System.Byte
Cnc{c}.Nc{n}.Spindle.Uint8:8°{y}	Physical address	System.Byte

Plc Variables and E Parameters

For reading the plc variables, they must be allowed to read in PLC Project.

With following address, you can read a PLC variable:

Cnc{c}.Plc.Variables.{DataType}:{PLC Address}

For checking a PLC address, you can use the Flexium HMI, go to Variables and write your PLC variable:

Examples:

Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.CncError  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.CncReady  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.ProgramActive  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.ProgramStop  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.Stop  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.Start  
Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.Reset (only ca. 100ms)  

E-Parameters on the PLC can vary, in general there are following parameter arrays with different data types: E10000, E30000, E33000, E36000, E37000

Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.E10000[1]

{
  "Id": "<generate your own id>",
  "Name": "Read 1 bit from E10000",
  "DataType": "System.Boolean",
  "DataClass": "Event",
  "Address": "Cnc0.Plc.Variables.Bool:Application.IoConfig_Globals.Flexium_NCK.RCNC.General.E10000[1]",
  "Access": {
    "Read": true,
    "Receive": true
  }
}

Check the E addresses for their data type. Reading the whole array is not supported by the controller.

NumRoto Parameter MachineActivity

The data point MachineActivity is NUM Roto specific and somewhat special. In the windows registry, it must be specified which EParameter contains the values from the data point MachineActivity. This is described in the driver configuration (see chapter 3).

HumanOS.UHAL.NumControlDriver implements the MachineActivity data point at the following address:

Cnc{c}.Plc.Variables.{DataType}:MachineActivity

Example:

In the windows registry, the following setting is specified:

HKEY_CURRENT_USER\SOFTWARE\NUMROTOplus\ParamMachineActivity contains the value 81000.

In this case, the NumControl driver will replace the address Cnc0.Plc.Variables.String:MachineActivity based on the registry setting with Cnc0.Plc.Variables.String:E81000.

CNC Parameters

For reading an E-Parameter, the parameter must be defined. For further information see the NUM documentation chapter "external parameters".

With following address, you can read an E-Parameter (Address range from 11000-..-..-98431; range not fully continuous):

Cnc{c}.Cnc.Parameter.{DataType}:E{xxxxx}

Ranges and read/write access depend on the used controller and the version, as well as customization through the machine supplier.

For checking an E-Parameter address, you can use the Flexium HMI, go to Variables and write your E-Parameter: