C#与欧姆龙NX系列PLC通讯

最新推荐文章于 2024-06-13 16:39:53 发布
最新推荐文章于 2024-06-13 16:39:53 发布
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  由于项目需要C#跟欧姆龙NX系列PLC通讯，网上百度NX系列的PLC这方面的案例很少，且NXPLC不支持Fins通信，也不支持OPCUA.只能通过Ethernet/IP与其进行通信

采用CX-Compolet控件
 

先上图片：

 

实现核心代码

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using OMRON.Compolet.CIP;
using System.Collections;

namespace Plc
{
    /// <summary>
    /// 欧姆龙CIPCompolet协议
    /// </summary>
    public class OmronCIP
    {
        /// <summary>
        /// 软元件代码
        /// </summary>
        private enum CIPElementCode
        {
            UCMM = 0,
            Class3=1
        };

         /// <summary>
        /// 接收的等待时间
        /// </summary>
        private int m_nWaitingTime;

        /// <summary>
        /// 通信网口
        /// </summary>
        private NXCompolet m_TcpLink;
        /// <summary>
        /// 心跳时间
        /// </summary>
        private int HeartBeatTimer;
        /// <summary>
        /// 本地端口
        /// </summary>
        private int LocalPort;
        /// <summary>
        /// PLC地址
        /// </summary>
        private string PeerAddress;
        /// <summary>
        /// 接收数据超时
        /// </summary>
        private long ReceiveTimeLimit;
        /// <summary>
        /// 第二连接PLC地址
        /// </summary>
        private string RoutePath;
        /// <summary>
        /// 连接类型
        /// </summary>
        private int ConnectionType;


        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="tl">网口</param>
        public OmronCIP(string peerAddress= "192.168.250.1",long receiveTimeLimit=750,int localPort=2, int connectionType =0
            ,int heartBeatTimer=0,string routePath= "2%192.168.250.1")
        {
            //变量初使化赋值
            PeerAddress = peerAddress;
            ReceiveTimeLimit = receiveTimeLimit;
            LocalPort = localPort;
            LocalPort = localPort;
            ConnectionType = connectionType;
            HeartBeatTimer = heartBeatTimer;
            RoutePath = routePath;
            //建立PLC连接变量
            m_TcpLink = new NXCompolet();
            m_TcpLink.ConnectionType = (OMRON.Compolet.CIP.ConnectionType)ConnectionType;
            m_TcpLink.DontFragment = false;
            m_TcpLink.HeartBeatTimer = HeartBeatTimer;
            m_TcpLink.LocalPort = LocalPort;
            m_TcpLink.PeerAddress = PeerAddress;
            m_TcpLink.ReceiveTimeLimit = ReceiveTimeLimit;
            m_TcpLink.RoutePath = RoutePath;
            m_TcpLink.UseRoutePath = false;                       
        }

        public NXCompolet GetTcp
        {
            get
            {
                return m_TcpLink;
            }

        }
        /// <summary>
        /// 设置接收的等待时间
        /// </summary>
        /// <param name="nMs">超时时间，单位:S</param>
        public void SetWaitingTime(int nMs)
        {
            int nCount = nMs;

            if (nCount <= 0)
            {
                m_nWaitingTime = 1;
                ReceiveTimeLimit = 1;
            }        
            else
            {
                m_nWaitingTime = nCount;
                ReceiveTimeLimit = nCount;
            }         
        }
        /// <summary>
        /// 写入位
        /// </summary>
        /// <param name="BinaryValue"></param>
        /// <param name="bVals"></param>
        /// <returns></returns>
        public bool WriteBit(string BinaryValue, bool bVals)
        {
            byte[] val;
            try
            {
                if(bVals)
                {
                    val = StringToByteArray("0100");
                }
                else
                {
                    val = StringToByteArray("0000");
                }
                m_TcpLink.WriteRawData(BinaryValue, val);
                return true;
            }
            catch(Exception ex)
            {
                              
            }
            return false;
        }

        /// <summary>
        /// 写入多个位
        /// </summary>
        /// <param name="valueList"></param>
        /// <param name="data"></param>
        /// <returns></returns>
        public bool WriteMultiBit(string[] valueList, bool[] data)
        {
            try
            {
                string[] varlist = valueList;

                if (varlist == null || varlist.Length == 0)
                {
                    return false;
                }
                
                for(int i= 0; i < valueList.Length; i++)
                {
                    byte[] val;
                    try
                    {
                        if (data[i])
                        {
                            val = StringToByteArray("0100");
                        }
                        else
                        {
                            val = StringToByteArray("0000");
                        }
                        m_TcpLink.WriteRawData(valueList[i], val);                       
                    }
                    catch
                    {
                        throw new NotSupportedException();
                    }
                }               
                return true;
            }
            catch (Exception ex)
            {
                            
            }
            finally
            {

            }
            return false;
        }

        public bool WriteWord(string BinaryValue, string bVals)
        {
            try
            {
                string valWrite = BinaryValue;
                if (valWrite.StartsWith("_"))
                {
                    MessageBox.Show("The SystemVariable can not write!");
                    return false;
                }
                object val = RemoveBrackets(bVals);
                if (m_TcpLink.GetVariableInfo(BinaryValue).Type == VariableType.STRUCT)
                {
                    val = ObjectToByteArray(val);
                }
                m_TcpLink.WriteVariable(BinaryValue, val);
                return true;
            }
            catch(Exception ex)
            {
                

            }

            return false;
        }

        public bool WriteString(string BinaryValue, string bVals)
        {
            try
            {
                string valWrite = BinaryValue;
                if (valWrite.StartsWith("_"))
                {
                    MessageBox.Show("The SystemVariable can not write!");
                    return false;
                }
                object val = this.RemoveBrackets(bVals);
                if (m_TcpLink.GetVariableInfo(BinaryValue).Type == VariableType.STRING)
                {
                    //val = this.ObjectToByteArray(val);
                }
                m_TcpLink.WriteVariable(BinaryValue, val);
                return true;
            }
            catch (Exception ex)
            {


            }
            return false;
        }
        /// <summary>
        /// 读取位
        /// </summary>
        /// <param name="BinaryValue"></param>
        /// <returns></returns>
        public bool ReadBit(string BinaryValue)
        {
          
            try
            {
                if (BinaryValue == null)
                {
                    return false;
                }
                object obj = m_TcpLink.ReadRawData(BinaryValue);
                VariableInfo info = m_TcpLink.GetVariableInfo(BinaryValue);
                string val = this.ByteArrayToString(obj as byte[]);
                if( val == "01-00")
                {
                    return true;
                }
                else if(val == "00-00")
                {
                    return false;
                }
                else
                {
                    return false;
                }
            }   
            catch(Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC读取异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
            finally
            {
               
            }
            return false;
        }

         /// <summary>
         /// 读取多个位
         /// </summary>
         /// <param name="BinaryMultiValue"></param>
         /// <param name="result"></param>
        public void ReadMultiBit(string BinaryMultiValue,ref string result)
        {
            try
            {
                if (BinaryMultiValue == null)
                {
                    return;
                }
                string[] varlist = BinaryMultiValue.Replace(" ", String.Empty).Split(',');
                Hashtable retVals = m_TcpLink.ReadRawDataMultiple(varlist);
                string multival = string.Empty;
                for (int index = 0; index < varlist.Length; index++)
                {
                    string varName = varlist[index];
                    string val = this.ByteArrayToString(retVals[varName] as byte[]);

                    
                    multival += val + ",";
                }
                multival = multival.TrimEnd(',');
                result = multival;

            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC读取异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
            finally
            {

            }
            return;
        }
        /// <summary>
        /// 读取字
        /// </summary>
        /// <param name="BinaryValue"></param>
        /// <returns></returns>
        public bool ReadString(string BinaryValue,ref string result)
        {

            try
            {
                if (BinaryValue == null)
                {
                    return false;
                }
                object obj = m_TcpLink.ReadVariable(BinaryValue);
                if (obj == null)
                {
                    throw new NotSupportedException();
                }
                VariableInfo info = m_TcpLink.GetVariableInfo(BinaryValue);
                string str = GetValueOfVariables(obj);
                result = str;
                return true;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC读取异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
            finally
            {

            }
            return false;
        }
        /// <summary>
        /// 读取字
        /// </summary>
        /// <param name="BinaryValue"></param>
        /// <returns></returns>
        public short ReadWord(string BinaryValue)
        {

            try
            {
                if (BinaryValue == null)
                {
                    return 0;
                }
                object obj = m_TcpLink.ReadVariable(BinaryValue);
                if (obj == null)
                {
                    throw new NotSupportedException();
                }
                VariableInfo info = m_TcpLink.GetVariableInfo(BinaryValue);
                string str = GetValueOfVariables(obj);
                short res = Convert.ToInt16(str);
                return res;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC读取异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
            finally
            {

            }
            return 0;
        }
        /// <summary>
        /// 读取多个字
        /// </summary>
        /// <param name="valueList"></param>
        /// <param name="data"></param>
        /// <returns></returns>
        public bool ReadMultiWord(string[] valueList,ref short[] data)
        {
            try
            {
                string[] varlist = valueList;
                if (varlist == null || varlist.Length == 0)
                {
                    return false;
                }
                short[] res = new short[varlist.Length];
                Hashtable retVals = m_TcpLink.ReadVariableMultiple(varlist);
                string multival = string.Empty;
                if (retVals == null)
                {
                    throw new NotSupportedException();
                }
                for (int index = 0; index < varlist.Length; index++)
                {
                    string varName = varlist[index];
                    object val = retVals[varName];
                    string valStr = this.GetValueOfVariables(val);            
                    multival += valStr + ",";
                    res[index] = Convert.ToInt16(valStr);

                }
                multival = multival.TrimEnd(',');
                return true;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC读取异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
            finally
            {
               
            }
            return false;
        }

 

        /// <summary>
        /// 打开设备
        /// </summary>
        /// <returns></returns>
        public  bool Open()
        {
            try
            {
                m_TcpLink.Active = true;
                if (m_TcpLink.IsConnected)
                {
                    return true;
                }
                else
                {
                    m_TcpLink.Active = false;                    
                    MessageBox.Show("Connection failed !" + System.Environment.NewLine + "Please check PeerAddress.", "PLC异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                m_TcpLink.Active = false;
            }
            return false;
        }
        public bool IsOpen()
        {
            if(m_TcpLink != null)
            {
                return m_TcpLink.IsConnected;
            }
            return false;
        }
        /// <summary>
        /// 关闭设备
        /// </summary>
        public  void Close()
        {
            try
            {
                if (m_TcpLink.IsConnected)
                {
                    m_TcpLink.Active = false;   
                                   
                }
                else
                {
                    m_TcpLink.Active = false;                   
                    MessageBox.Show("Connection failed !" + System.Environment.NewLine + "Please check PeerAddress.", "PLC异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "PLC异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                m_TcpLink.Active = false;
            }
        }

        #region 常用功能函数
        private void DisplayVariableInfomation(string str, Control con)
        {
            ListView listViewOfVariableNames = con as ListView;
            ListViewItem item = listViewOfVariableNames.Items.Add(str);
            VariableInfo info = m_TcpLink.GetVariableInfo(str);
            if (info.IsArray)
            {
                string text = info.Type.ToString();
                foreach (long num in info.NumberOfElements)
                {
                    text += "[" + num.ToString() + "]";
                }
                item.SubItems.Add(text);
            }
            else
            {
                item.SubItems.Add(info.Type.ToString());
            }
            item.SubItems.Add(string.Empty);
        }

        private bool IsMustElementAccess(VariableInfo info)
        {
            bool toReturn = false;
            if (info.IsArray)
            {
                if (info.Type == VariableType.STRING || info.Type == VariableType.UNION)
                {
                    toReturn = true;
                }
            }

            return toReturn;
        }

        private bool IsMustMemberAccess(VariableInfo info)
        {
            bool toReturn = false;

            if (info.Type == VariableType.UNION)
            {
                toReturn = true;
            }

            return toReturn;
        }

        private String GetAccessablePath(String path)
        {
            String newPath = String.Empty;
            newPath += path;
            VariableInfo info = m_TcpLink.GetVariableInfo(path);
            if (this.IsMustElementAccess(info))
            {
                // get only first element
                for (int i = 0; i < info.Dimension; i++)
                {
                    newPath += "[" + info.StartArrayElements[i].ToString() + "]";
                }
                return this.GetAccessablePath(newPath);
            }
            else if (this.IsMustMemberAccess(info))
            {
                // get only first member
                newPath += "." + info.StructMembers[0].Name;
                return this.GetAccessablePath(newPath);
            }
            else
            {
                return newPath;
            }
        }

        private string GetValueOfVariables(object val)
        {
            string valStr = string.Empty;
            if (val.GetType().IsArray)
            {
                Array valArray = val as Array;
                if (valArray.Rank == 1)
                {
                    valStr += "[";
                    foreach (object a in valArray)
                    {
                        valStr += this.GetValueString(a) + ",";
                    }
                    valStr = valStr.TrimEnd(',');
                    valStr += "]";
                }
                else if (valArray.Rank == 2)
                {
                    for (int i = 0; i <= valArray.GetUpperBound(0); i++)
                    {
                        valStr += "[";
                        for (int j = 0; j <= valArray.GetUpperBound(1); j++)
                        {
                            valStr += this.GetValueString(valArray.GetValue(i, j)) + ",";
                        }
                        valStr = valStr.TrimEnd(',');
                        valStr += "]";
                    }
                }
                else if (valArray.Rank == 3)
                {
                    for (int i = 0; i <= valArray.GetUpperBound(0); i++)
                    {
                        for (int j = 0; j <= valArray.GetUpperBound(1); j++)
                        {
                            valStr += "[";
                            for (int z = 0; z <= valArray.GetUpperBound(2); z++)
                            {
                                valStr += this.GetValueString(valArray.GetValue(i, j, z)) + ",";
                            }
                            valStr = valStr.TrimEnd(',');
                            valStr += "]";
                        }
                    }
                }
            }
            else
            {
                valStr = this.GetValueString(val);
            }
            return valStr;
        }

        private string GetValueString(object val)
        {
            if (val is float || val is double)
            {
                return string.Format("{0:R}", val);
            }
            else
            {
                return val.ToString();
            }
        }

        private object RemoveBrackets(string val)
        {
            object obj = string.Empty;
            if (val.IndexOf("[") >= 0)
            {
                string str = val.Trim('[', ']');
                str = str.Replace("][", ",");
                obj = str.Split(',');
            }
            else
            {
                obj = val;
            }
            return obj;
        }

        private string ByteArrayToString(byte[] ba)
        {
            if (ba.Length == 0)
            {
                return string.Empty;
            }
            else
            {
                return BitConverter.ToString(ba);
            }
        }

        private byte[] StringToByteArray(string hex)
        {
            if (hex == String.Empty)
            {
                return new Byte[0];
            }
            int byteNumber = hex.Length / 2;
            byte[] bytes = new byte[byteNumber];
            for (int i = 0; i < hex.Length; i += 2)
            {
                bytes[i / 2] = Convert.ToByte(hex.Substring(i, 2), 16);
            }
            return bytes;
        }

        private byte[] ObjectToByteArray(object obj)
        {
            if (obj is Array)
            {
                Array arr = obj as Array;
                Byte[] bin = new Byte[arr.Length];
                for (int i = 0; i < bin.Length; i++)
                {
                    bin[i] = Convert.ToByte(arr.GetValue(i));
                }
                return bin;
            }
            else
            {
                return new Byte[1] { Convert.ToByte(obj) };
            }
        }
        #endregion

    }
}

 

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/-------------------------------------------------------CommandSpecificData 指令指定数据 4byte。//-------------------------------------------------------CommandSpecificData 指令指定数据 4byte。0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,//发送方描述默认0 8byte。
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