最近在完善CNC数控车床的数据采集，做之前没接触过这东西，只知道是使用Fanuc数控系统，在网上搜索一圈，资料少到令人蛋疼。按正常来说，发那科数控系统是非常常见的。最后加了几个群，提的问题没人管，但跑出来很多各种收费解决问题，捂得紧紧的，无奈只能自己研究。
废话少说，进入正题，Fanuc的SDK包叫Focas2，里面有说明文档和开发要用的DLL，而我们数据采集只需要文件：fwlib32.cs、Fwlib32.dll和车床系统版本对应的DLL，如果你不知道，那就把所有DLL全部复制进bin目录。
SDK有开发案例和每个函数的代码实例(doc文件)，但是不全，并不是每个函数都有，常用的函数没有问题。
开发时注意，使用cnc_allclibhndl3连接后得到的Flibhndl，使用时必须和使用cnc_allclibhndl3保持在同一线程里，否则获取到就会全是0，不是实际数据。
本次使用多线程采集多个设备的 机械位置，主轴速度，进给率，负载
using Newtonsoft.Json;using System;using System.Collections.Generic;using System.Diagnostics;using workInformation;using System.Threading;namespace CNCServ{public class DeviceInfo{public Guid DeviceID { get; set; }public string DeviceCode { get; set; }public string DeviceName { get; set; }public string IP { get; set; }public ushort Port { get; set; }public bool Connected { get; set; }public ushort Flibhndl { get; set; }public bool run { get; set; } = true;//最后获取到数据的时间，处理重连public DateTime LastHasDateTime { get; set; }//获取到机械位置为0的次数，处理是否显示（偶尔会为0，不作显示）public int ZeroCount { get; set; }//采集数据频率 间隔public int GetDataInterval { get; set; }/// <summary>/// 机械坐标/// </summary>/// <returns></returns>public string GetCNC_Machine(){#region cnc_machine 机械坐标Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();c_machine(Flibhndl, (short)(1), 8, odbaxis);string x = (odbaxis.data[0] / 1000.000).ToString("0.000");c_machine(Flibhndl, (short)(2), 8, odbaxis);string y = (odbaxis.data[0] / 1000.000).ToString("0.000");c_machine(Flibhndl, (short)(3), 8, odbaxis);string z = (odbaxis.data[0] / 1000.000).ToString("0.000");var d = new { X = x, Y = y, Z = z };string result = JsonConvert.SerializeObject(d);return result;#endregion}/// <summary>/// 主轴实际速度/// </summary>/// <returns></returns>public int GetCNC_Acts(){#region cnc_acts2 主轴实际速度 Focas1.ODBACT odbact = new Focas1.ODBACT();c_acts(Flibhndl, odbact);return odbact.data;#endregion}/// <summary>/// 伺服器给进率/// </summary>/// <returns></returns>public int GetCNC_Actf(){#region cnc_actf 伺服器给进率Focas1.ODBSPEED odbspeed = new Focas1.ODBSPEED();var odbact = new Focas1.ODBACT();c_actf(Flibhndl, odbact);return odbact.data;#endregion}/// <summary>/// 系列轴负载/// </summary>/// <returns></returns>public short GetCNC_Rdspload(){#region cnc_rdspload 系列轴负载Focas1.ODBSPN odbspn = new Focas1.ODBSPN();c_rdspload(Flibhndl, Focas1.ALL_SPINDLES, odbspn);return odbspn.data[0];#endregion}/// <summary>/// 从设备获取实时数据/// </summary>/// <param name="fh">连接句柄</param>public void GetDeviceData(){//上一次检测设备的状态int runstate = 0;//0停止，1待机，开动while (run){bool reConnect = false;string result = "连接失败";int cnc_acts2 = 0, cnc_actf = 0;#region 检查连接情况，断开则重连TimeSpan ts = DateTime.Now - LastHasDateTime;if (ts.TotalSeconds >= 60 * 3) //3分钟判断一次连接状态{Focas1.ODBST buf = new Focas1.ODBST();c_statinfo(Flibhndl, buf);runstate = buf.run; //状态+模式if ((buf.run + buf.aut) <= 0) //buf.run //0停止，1待机，开动{reConnect = true; //3分钟重连一次 Connected = false;}LastHasDateTime = DateTime.Now;}#endregion#region 连接设备if (!Connected && reConnect) //3分钟重连一次，降低频率{reConnect = false;if (!Ping(IP)){result = "Ping不通，连接失败";SysLog.WriteEntry("CNCServ", $"{DeviceCode} ping不通，无法连接！", SysLog.LogType.Information, 0);}else{ushort f;var connect = c_allclibhndl3(IP, Port, 10, out f);if (connect != Focas1.EW_OK){SysLog.WriteEntry("CNCServ", $"{DeviceCode} 连接失败！错误代码：{connect}！", SysLog.LogType.Information, 0);Flibhndl = 0;Connected = false;}else{Flibhndl = f;Connected = true;LastHasDateTime = DateTime.Now;SysLog.WriteEntry("CNCServ", $"{DeviceCode} 连接成功！{Flibhndl}！", SysLog.LogType.Information, 0);result = "连接成功";}}LastHasDateTime = DateTime.Now;UpdateServiceData("connectstate", result, DeviceID, DeviceCode, DeviceName);}#endregion#region 获取数据if (Connected){//UpdateServiceData("connectstate", "连接成功", DeviceID, DeviceCode, DeviceName); try{#region cnc_machine 机械坐标var machine = GetCNC_Machine();#endregion#region cnc_acts2 主轴实际速度 cnc_acts2 = GetCNC_Acts();#endregion#region cnc_actf 伺服器给进率 cnc_actf = GetCNC_Actf();#endregion#region cnc_rdspload 系列轴负载string rdspload = GetCNC_Rdspload();#endregion var data = new{connectstate = "连接成功",cnc_machine = machine,cnc_acts2 = act2,cnc_actf = actf,cnc_rdspload = rdspload};var updatedata = JsonConvert.SerializeObject(data);UpdateServiceData("all", updatedata, DeviceID, DeviceCode, DeviceName);}catch (Exception ex){SysLog.WriteEntry("CNCServ", ex, 1); }}#endregion Thread.Sleep(GetDataInterval);}}/// <summary>/// 更最新数据到接口/// </summary>/// <param name="dataCode"></param>/// <param name="dataValue"></param>/// <param name="deviceID"></param>/// <param name="deviceCode"></param>/// <param name="deviceName"></param>private void UpdateServiceData(string dataCode, string dataValue, Guid deviceID, string deviceCode, string deviceName){try{//接口方式 var t = new Thread(delegate () {APIHelper.TestCNCData(dataCode, deviceCode, deviceName, dataValue);});t.Start();}catch (Exception ex){SysLog.WriteEntry("CNCServ", ex, 2); }}/// <summary>/// 设置失去连接，不再使用循环重连，而是先ping通再连接，防止重连消耗资源/// </summary>/// <param name="ip"></param>/// <returns></returns>private bool Ping(string ip){bool result = false;using (var ping = new Ping()){PingReply pingReply = ping.Send(ip);if (pingReply.Status == IPStatus.Success)result = true;elseresult = false;}return result;}}}
上面代码为一个对象，多台设备可以实例化多个对象，每个对象放进一个线程里，可以做成win服务或都winfrom程序
下面是调用例子(windows service)
protected override void OnStart(string[] args){ Bind();}/// <summary>/// 设置设备列表，并启动采集线程/// </summary>private void Bind(){int interval = int.Parse(ConfigurationManager.AppSettings["GetDataInterval"]); //采集数据频率 毫秒DeviceInfo deviceInfo0002;DeviceInfo deviceInfo0003;DeviceInfo deviceInfo0004;DeviceInfo deviceInfo0007;deviceInfo0002 = new DeviceInfo{Connected = false,DeviceID = Guid.NewGuid(),,DeviceCode = "001",DeviceName = "数控车床", IP = "192.168.0.1",Port = 8193,GetDataInterval = interval,LastHasDateTime = DateTime.Now.AddDays(-1)};Thread thread2 = new Thread(new ThreadStart(deviceInfo0002.GetDeviceData));this.threadPool.Add(thread2);deviceList.Add(deviceInfo0002);deviceInfo0003 = new DeviceInfo{Connected = false,DeviceID = Guid.NewGuid(),DeviceCode = "002",DeviceName = "数控车床",IP = "192.168.0.2",Port = 8193,GetDataInterval = interval,LastHasDateTime = DateTime.Now.AddDays(-1)};Thread thread3 = new Thread(new ThreadStart(deviceInfo0003.GetDeviceData));this.threadPool.Add(thread3);deviceList.Add(deviceInfo0003);deviceInfo0004 = new DeviceInfo{Connected = false,DeviceID = Guid.NewGuid(),DeviceCode = "003",DeviceName = "数控车床",IP = "192.168.0.3",Port = 8193,GetDataInterval = interval, LastHasDateTime = DateTime.Now.AddDays(-1)};Thread thread4 = new Thread(new ThreadStart(deviceInfo0004.GetDeviceData));this.threadPool.Add(thread4);deviceList.Add(deviceInfo0004);deviceInfo0007 = new DeviceInfo{Connected = false,DeviceID = Guid.NewGuid(),DeviceCode = "004",DeviceName = "数控车床",IP = "192.168.0.4",Port = 8193,GetDataInterval = interval,LastHasDateTime = DateTime.Now.AddDays(-1)};Thread thread7 = new Thread(new ThreadStart(deviceInfo0007.GetDeviceData));this.threadPool.Add(thread7);deviceList.Add(deviceInfo0007);foreach (Thread t in this.threadPool){t.Start();}}//停止服务时，关闭线程和释放连接，网上说连接有1000的限制，没明白是怎么个限制法，但释放总没错protected override void OnStop(){foreach (var m in deviceList){m.run = false;}foreach (Thread t in this.threadPool){t.Abort();}this.threadPool.Clear();foreach (var m in deviceList){ int ret = c_freelibhndl(m.Flibhndl);}deviceList.Clear();}
完成，因为代码里我加了保存到数据库，这部分已删减，能获取到数据，怎么处理都好办。如果想采集更多其它数据，可以自己查看SDK包的函数说明书，然后在Model里添加上代码
