基于MODBUS协议和PLC的通讯

很多人在找MODBUS通讯代码，我把以前用VB.NET写的一些代码贴上来供参考

'判断电机是否在转动
    Public Sub WaitMotorStop()
        '判断电机是否在转动
        Dim str1 As String = "1"
        Do Until str1 = "0"
            Comm2PLC(RCS, Relay901, "")
            System.Threading.Thread.Sleep(50)
            Dim str2 As String = FormMain.RS232.ReadExisting().ToString()
            FormMain.RS232.DiscardInBuffer()
            FormMain.RS232.DiscardOutBuffer()
            '先高低位转换，再16进制转换为10进制。例如把78563412转换为12345678
            If str2.Length > 6 Then
                str1 = str2.Substring(6, 1)
            End If
        Loop
        Thread.Sleep(200)
    End Sub
    ‘----------------------------------------------------------------’
    '写入PLC
    Public Sub Comm2PLC(ByRef _Code As String, ByRef _Address As String, ByVal _Command As String)
        Dim str1 As String = _Code & _Address & _Command         '代码字+中间继电器+命令字
        Dim str2 As String = Calculte_Vertification_bit(str1)
        Dim str3 As String = str1 & str2
        FormMain.RS232.WriteLine(str3 + vbCr)
        FormMain.RS232.DiscardOutBuffer()
    End Sub

    ‘----------------------------------------------------------------
    '计算校验位
    Function Calculte_Vertification_bit(ByVal str)
        Dim str2 As String = Nothing
        For i As Integer = 1 To Len(str)
            Dim str1 As String = Asc(Mid(str, i, 1))
            str2 = str2 Xor str1
        Next
        Return Hex(str2)
    End Function
    
    ‘----------------------------------------------------------------
'运动坐标读取
    Private Sub ReadCoord()
        System.Threading.Thread.Sleep(10)
        FormMain.RS232.DiscardInBuffer()
        Comm2PLC(RD, Register1, "")
        Try
            System.Threading.Thread.Sleep(200)
            Dim str1 As String = FormMain.RS232.ReadExisting().ToString()
            '先高低位转换，再16进制转换为10进制。例如把78563412转换为12345678
            If str1.Length > 3 Then
                Dim str2 As String = str1.Substring(3, 1)
                If str2 = "$" Then
                    str2 = Nothing
                    For i As Integer = 0 To 3
                        str2 = str2 + str1.Substring(12 - i * 2, 2)
                    Next
                    str2 = CInt("&H" & str2)
                End If
                txt_OriginCoordX.Text = str2
            End If
        Catch
        End Try
    End Sub

 '-----------------------------------------
 '回原点
 Comm2PLC(WCS, Relay5, "1")           'Comm2PLC("%01#WCS", "R0005", "1")