FOCAS2 control of 35i-B FANUC machine

[chrisb2244]

I'm trying to control our FANUC 35i-B system (controller? machine? unsure of appropriate terminology for each part of this confusing array of parts).
It is connected to two AC Servo Motors. These are labelled C1 and C2 on the front panel screen. My understanding is that these are 'axes'. They are also each on a separate 'path'.

I am able to connect to the system using code like

unsigned short h;
std::string ip = "10.10.100.35";
unsigned short port = 8193;
short ret = cnc_allclibhndl3(ip.c_str(), port, timeout, &h);
// Check ret for error conditions

// Get some info
ODBST buf;
ret = cnc_statinfo(&h, &buf);
// read the parts of buf...

cnc_freelibhndl(&h);

However, the results of 'cnc_rdaxisname' give me only one axis (C1), as do 'cnc_exaxisname{,2}', and using cnc_rdaxisdata doesn't give me anything better.

pmc_get_number_of_pmc returns information indicating only one pmc unit, and trying to set the unit with any value other than 1, using 'pmc_select_pmc_unit(handle, value);' gives me an error. (Setting the value to 1 gives no error).

Where is my second axis/path?

If I just want to set the axes to some constant speeds, what do I need to do?

Apologies for the probably stupid questions.

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[drdos]

Fanuc uses G-Code programming to position the servos to and at a specified feed rate. If you want to run them at a constant speed all day long then you will have to use the ladder and set them up as PMC controlled axes.