TwinCAT数据读写

IP地址的写法：

  long          nErr, nPort;
  AmsAddr       Addr;                        //ip地址
  PAmsAddr      pAddr = &Addr;
  unsigned long lHdlVar;
  int           nIndex;
  short         Data[10];
  char          szVar []={
   "MAIN.PLCVar"};        //变量名称


  // Open communication port on the ADS router
  nPort = AdsPortOpen();
  nErr = AdsGetLocalAddress(pAddr);
  if (nErr) cerr << "Error: AdsGetLocalAddress: " << nErr << '\n';
  pAddr->port = AMSPORT_R0_PLC_RTS1;


  // Fetch handle for the PLC variable 获取句柄，知道是要读写哪个变量
  nErr = AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(lHdlVar), &lHdlVar, sizeof(szVar), szVar);
  if (nErr) cerr << "Error: AdsSyncReadWriteReq: " << nErr << '\n';
 
  // Write value of a PLC variable (by handle) 写入数据
  nData = 12;
  nErr = AdsSyncWriteReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar,  sizeof(nData), &nData);
  if (nErr) cerr << "Error1: AdsSyncWriteReq: " << nErr << '\n';


   // Read values of the PLC variables (by handle)//读取数据的dpi
  nErr = AdsSyncReadReq(pAddr, ADSIGRP_SYM_VALBYHND, lHdlVar, sizeof(Data), &Data[0]);       
  if (nErr)
    cerr << "Error: AdsSyncReadReq: " << nErr << '\n';
  else
  {
           //读取数组数据
    for (nIndex = 0; nIndex < 10; nI