先介绍下一些基本定义
串行通信：通过的是PLC上的串行口RS232/RS422/485口，上位机链接系统 Hostlink系统是对于FA系统一种及优化有经济的通信方式。
适用于一台上位机与一台或者多台的PLC进行数据通信。
通讯协议分两种
1:C-mode commands
只可以通过串口进行通讯
2:Fins commands
既可以通过串口通讯也可以通过各类网络通讯(适应性较强)
本文只介绍fins通讯
fins (factory in terfave network service) 通讯协议是欧姆龙公司开发的一款自动化控制网络指令/响应系统的通讯协议；运用FINS指令可实现各种网络间的无缝通信
FINS帧结构
- 发送命令结构 命令码2个字节
- 响应命令结构 命令码2个字节
- 命令码 01 01读数据
- 命令码 01 02写数据
- 结束码 00 00无错误
1、获取PLC节点地址
上位机和PLC建立TCP通讯之后，可以发送以下命令来获得PLC的节点地址;
帧结构见下表：
| 列表 | Content（十六进制） | Description(说明) |
|---|---|---|
| 头 | 46 49 4E 53 | ASCII分别代表的是 F I N S |
| 长度 | 00 00 00 0C | 从Command之后的数据包的长度 |
| 错误代码 | 00 00 00 00 | 目前暂时没用，因为在服务器不需要检测内部错误 |
| 连接的节点地址 | 00000000~000000FE | 分别是0~254，当设置为0时表示自动获取客户端的Fins节点地址 |
2、命令码介绍
详细内容说明介绍见下表：
| 命令内容 | 命令代码(MR SR) | 说明 | 功能 |
|---|---|---|---|
| 访问I/O存储区 | 01 01 | 读内存区 | 读连续I/O存储区字的内容 |
| 访问I/O存储区 | 01 02 | 写内存区 | 写连续I/O存储区字的内容 |
| 访问I/O存储区 | 01 03 | 填充内存区 | 将相同的数据写入指定范围的I/O存储器区 |
| 访问I/O存储区 | 01 04 | 多个存储区读取 | 读取指定的非连续I/O存储区字 |
| 访问I/O存储区 | 01 05 | 存储区传输 | 将连续存储I/O存储区字内容复制到另外的I/O存储区 |
| 访问参数区 | 02 01 | 读取参数区 | 读取连续参数区字内容 |
| 访问参数区 | 02 02 | 写入参数区 | 写入连续参数区字内容 |
| 访问参数区 | 02 03 | 填充参数区 | 将相同数据写入到指定范围参数区域字 |
| 改变操作模式 | 04 01 | 设置CPU操作模式为RUN | 将CPU单元的操作模式更改为RUN或MONITOR |
| 改变操作模式 | 04 02 | 设置CPU操作模式为STOP | 将CPU单元的操作模式更改为编程 |
| 改变操作模式 | 06 01 | 读取CPU单元状态 | 读取CPU单元状态 |
| 错误日志 | 21 01 | 错误清除 | 清除错误或错误信息 |
| 错误日志 | 21 02 | 读取错误日志 | 读取错误日志 |
| 错误日志 | 21 03 | 清除错误日志 | 清除错误日志指针 |
3、I / O存储器地址标识
| 区域 | 数据类型 | 存储区代码 | 存储区地址范围 | 存储地址 | 字节长度 |
|---|---|---|---|---|---|
| DM | Bit | 02 | D0000000到D3276715 | 000000到7FFF0F | 1 |
| DM | Word | 82 | D00000到D32767 | 000000到7FFF00 | 2 |
鉴于我们在和PLC通讯时，一般只需要进行读取DM区寄存器操作，因为本文只介绍读取和写入DM区寄存器。其他的有需要的童鞋进行自己功能拓展。
举例：
读取DM区地址100，连续10个地址的数据
发送命令：010182006400000A
返回命令：010100000102030405060708090A
发送的命令进行说明：
- 1、01 01代表功能码，读连续I/O存储区字的内容
- 2、82代表进行字操作
- 3、00 64转成十进制就是100代表的是我们要读取的起始地址
- 4、00000A转成十进制就是10代表的是我们要读取得长度
响应的命令说明
- 1、01 01代表功能码，读连续I/O存储区字的内容
- 2、00 00代表结束码，当不是00 00的时候表明数据帧不对
- 3、01 02 03 04 05 06 07 08 09 0A分别代表要读取的十个寄存器的数据值
具体协议可以查看百度文库：欧姆龙fins通讯协议
综上，结合之前的博客，C#Socket客户端：C#Socket客户端我们可以整合得到一个欧姆龙fins的类，如下所示：
using System;
using System.Collections.Generic;
using System.Text;
using System.Net;
using System.Net.Sockets;
using System.Threading;
namespace OmrEntFINS
{
public class OmronFINS
{
///
/// 客户端连接Socket
///
private Socket clientSocket;
///
/// 连接状态
///
public Boolean connected = false;
///
/// 发送数据
///
private Byte[] SendMess;
///
/// 连接点
///
private IPEndPoint hostEndPoint;
///
/// 连接信号量
///
private static AutoResetEvent autoConnectEvent = new AutoResetEvent(false);
///
/// 接受到数据时的委托
///
///
public delegate void ReceiveMsgHandler(Byte[] info);
///
/// 接收到数据时调用的事件
///
public event ReceiveMsgHandler OnMsgReceived;
///
/// 开始监听数据的委托
///
public delegate void StartListenHandler();
///
/// 开始监听数据的事件
///
public event StartListenHandler StartListenThread;
///
/// 发送信息完成的委托
///
///
public delegate void SendCompleted(bool successorfalse);
///
/// 发送信息完成的事件
///
public event SendCompleted OnSended;
///
/// 监听接收的SocketAsyncEventArgs
///
private SocketAsyncEventArgs listenerSocketAsyncEventArgs;
int Plcport;
public OmronFINS(String hostName, Int32 port, Int32 PLCStaion)
{
Plcport = PLCStaion;
IPAddress[] addressList = Dns.GetHostAddresses(hostName);
this.hostEndPoint = new IPEndPoint(addressList[addressList.Length - 1], port);
this.clientSocket = new Socket(this.hostEndPoint.AddressFamily, SocketType.Stream, ProtocolType.Tcp);
}
///
/// 连接服务端
///
private bool Connect()
{
using (SocketAsyncEventArgs connectArgs = new SocketAsyncEventArgs())
{
connectArgs.UserToken = this.clientSocket;
connectArgs.RemoteEndPoint = this.hostEndPoint;
connectArgs.Completed += new EventHandler(OnConnect);
clientSocket.ConnectAsync(connectArgs);
//等待连接结果
bool autores = autoConnectEvent.WaitOne(1000);
if (this.connected)
{
listenerSocketAsyncEventArgs = new SocketAsyncEventArgs();
byte[] receiveBuffer = new byte[1024];//设置接收buffer区大小
listenerSocketAsyncEventArgs.UserToken = clientSocket;
listenerSocketAsyncEventArgs.SetBuffer(receiveBuffer, 0, receiveBuffer.Length);
listenerSocketAsyncEventArgs.Completed += new EventHandler(OnReceive);
StartListenThread();
// SocketExtensions.SetKeepAlive(clientSocket, 3000, 1000);
return true;
}
else
return false;
}
}
///
/// 开始监听线程的入口函数
///
private void Listen()
{
(listenerSocketAsyncEventArgs.UserToken as Socket).ReceiveAsync(listenerSocketAsyncEventArgs);
}
public static List s_lst = new List();
///
/// 发送信息
///
///
private void Send(Byte[] message)
{
if (this.connected)
{
Byte[] sendBuffer = message;
SocketAsyncEventArgs senderSocketAsyncEventArgs = null;// new SocketAsyncEventArgs();
lock (s_lst)
{
if (s_lst.Count > 0)
{
senderSocketAsyncEventArgs = s_lst[s_lst.Count - 1];
s_lst.RemoveAt(s_lst.Count - 1);
}
}
if (senderSocketAsyncEventArgs == null)
{
senderSocketAsyncEventArgs = new SocketAsyncEventArgs();
senderSocketAsyncEventArgs.UserToken = this.clientSocket;
senderSocketAsyncEventArgs.RemoteEndPoint = this.hostEndPoint;
senderSocketAsyncEventArgs.Completed += (object sender, SocketAsyncEventArgs _e) =>
{
lock (s_lst)
{
s_lst.Add(senderSocketAsyncEventArgs);
}
};
}
senderSocketAsyncEventArgs.SetBuffer(sendBuffer, 0, sendBuffer.Length);
clientSocket.SendAsync(senderSocketAsyncEventArgs);
}
else
{
this.connected = false;
}
SendMess = message;
}
///
/// 断开连接
///
private bool Disconnect()
{
bool returnDis = true;
try
{
this.clientSocket.Shutdown(SocketShutdown.Both);
this.clientSocket.Close();
//this.clientSocket.Dispose();
//clientSocket.Disconnect(true);
//clientSocket.Disconnect(false);
}
catch (Exception)
{
returnDis = false;
}
finally
{
}
this.connected = false;
return returnDis;
}
///
/// 连接的完成方法
///
///
///
private void OnConnect(object sender, SocketAsyncEventArgs e)
{
this.connected = (e.SocketError == SocketError.Success);
autoConnectEvent.Set();
}
///
/// 接收的完成方法
///
///
///
private void OnReceive(object sender, SocketAsyncEventArgs e)
{
if (e.BytesTransferred == 0)
{
//Console.WriteLine("Socket is closed", Socket.Handle);
if (clientSocket.Connected)
{
try
{
clientSocket.Shutdown(SocketShutdown.Both);
}
catch (Exception)
{
//client already closed
}
finally
{
if (clientSocket.Connected)
{
clientSocket.Close();
}
}
}
Byte[] rs = new Byte[0];
OnMsgReceived(rs);
this.connected = false;
}
else
{
byte[] buffer = new byte[e.BytesTransferred];
for (int i = 0; i < e.BytesTransferred; i++)
{
buffer[i] = e.Buffer[i];
}
this.OnMsgReceived(buffer);
Listen();
}
}
///
/// 发送的完成方法
///
///
///
private void OnSend(object sender, SocketAsyncEventArgs e)
{
if (e.SocketError == SocketError.Success)
{
OnSended(true);
}
else
{
OnSended(false);
this.ProcessError(e);
}
}
///
/// 处理错误
///
///
private void ProcessError(SocketAsyncEventArgs e)
{
Socket s = e.UserToken as Socket;
if (s.Connected)
{
try
{
s.Shutdown(SocketShutdown.Both);
}
catch (Exception)
{
//client already closed
}
finally
{
if (s.Connected)
{
s.Close();
}
}
this.connected = false;
}
//throw new SocketException((Int32)e.SocketError);
}
#region IDisposable Members
public void Dispose()
{
autoConnectEvent.Close();
if (this.clientSocket.Connected)
{
this.clientSocket.Close();
}
}
#endregion
#region 欧姆龙通讯协议
///
/// 发送命令反馈
///
///
void OmronFINS_OnSended(bool successorfalse)
{
if (!successorfalse)
{
}
else
{
}
}
Byte PCS;
Byte PLCS;
int SendOrRev;
int SendOrRev2;
Byte[] SendBack;
Byte[] RecvBack;
///
/// 接受命令反馈
///
///
void OmronFINS_OnMsgReceived(byte[] info)
{
if (SendmessHas)
{
if (info.Length >= 24)
{
if (int.Parse(info[23].ToString("X").Trim(), System.Globalization.NumberStyles.HexNumber) == Plcport)
{
PCS = info[19];
PLCS = info[23];
SendmessHas = false;
}
}
}
else
{
if (info.Length > 0)//PLC连接错误NO
{
if (SendOrRev2 == 1)//发送命令
{
SendBack = info;
SendOrRev2 = 0;
}
else if (SendOrRev == 2)//接受命令
{
RecvBack = info;
SendOrRev = 0;
}
}
else
{
if (SendOrRev2 == 1)//发送命令
{
SendBack = new Byte[1];
SendBack[0] = 0x00;
SendOrRev2 = 0;
}
else if (SendOrRev == 2)//接受命令
{
RecvBack = new Byte[1];
RecvBack[0] = 0x00;
SendOrRev = 0;
}
}
}
}
void OmronFINS_StartListenThread()
{
this.Listen();
}
bool SendmessHas = false;
///
/// 打开连接
///
///
/// 关闭连接
///
///
/// 写入值(Word)
///
/// 起始寄存器地址
/// 个数
/// 值
/// true,成功;false,失败
public bool WritePlcData(string TypeInt, int NumData, ref int[] IntValue)
{
bool sendRerun = false;
if (NumData > 0)
{
Byte[] numData = BitConverter.GetBytes(NumData);//Use numData[0] and numData[1]
Byte[] SendmessAge = new Byte[34 + NumData * 2];
if (GetType(TypeInt, 0) != 0x00 && Address != null && Address.Length > 1)
{
Byte[] getSendFunc = this.SetPLCvalue(PLCS, PCS, GetType(TypeInt, 0), Address[1], Address[0], 0x00, numData[1], numData[0], NumData);
for (int i = 0; i < 34 + NumData * 2; i++)
{
if (i < 34)
{
SendmessAge[i] = getSendFunc[i];
}
else
{
if ((i - 33) % 2 != 0)
{
Byte[] BuffInvalue = BitConverter.GetBytes(IntValue[(i - 33) / 2]);
SendmessAge[i] = BuffInvalue[1];
}
else
{
Byte[] BuffInvalue = BitConverter.GetBytes(IntValue[(i - 33) / 2 - 1]);
SendmessAge[i] = BuffInvalue[0];
}
//SendmessAge[i]
}
}
SendOrRev2 = 1;
this.Send(SendmessAge);
int Outtime = 0;
while (SendOrRev2 != 0 && this.connected && Outtime < 600)
{
Thread.Sleep(2);
Outtime++;
}
if (Outtime < 600 && SendBack != null)
{
try
{
//if (SendBack.Length > 1 && SendBack[26] == 0x01 && SendBack[27] == 0x02 && SendBack[28] == 0x00 && SendBack[29] == 0x00)
//{
if (SendBack.Length > 1 && SendBack[26] == 0x01 && SendBack[27] == 0x02 && SendBack[28] == 0x00)
{
sendRerun = true;
}
else
{
sendRerun = false;
}
}
catch (Exception)
{
}
}
else
{
SendOrRev2 = 0;
}
}
}
return sendRerun;
}
///
/// 读取值(Word)
///
/// 起始寄存器地址
/// 个数
/// 值
///
/// 读取值(Word)
///
/// 起始寄存器地址
/// 个数
/// 值
///
/// 读取值(Bit)
///
/// 起始寄存器地址
/// 值
///
/// Write值(bit)
///
/// 寄存器地址(CIOX.X)
///
/// Set 值(bit)
///
/// 寄存器地址(CIOX.X)
///
/// Rest 值(bit)
///
/// 寄存器地址(CIOX.X)
///
/// Get PLC DA1 SNA1
///
///
/// Read Word
///
///
///
///
///
///
///
///
///
///
/// Write Word
///
///
///
///
///
///
///
///
///
///
/// Read Bit
/// ///
///
///
///
///
///
///
///
///
///
/// Write Bit
///
///
///
///
///
///
///
///
/// Set Bit
///
///
///
///
///
///
///
///
/// RST Bit
///
///
///
///
///
///
///
///
至此，我们就可以用上述的类和欧姆龙PLC进行FINS通讯。
总结
以上为个人经验，希望能给大家一个参考，也希望大家多多支持脚本之家。