上一篇我们介绍了如何配置连接PLC（注意网线记得插到PLC以太网口!!!还有一个好像是伺服的网口不要插错了），接下来将介绍欧姆FinsTcp协议及使用C#实现过程。
- FinsTcp协议报文格式
获取PLC节点地址
FINS command
IO存储器地址标识
2.实现过程
以上为FinsTCP协议主要核心内容，代码原理很简单就是通过SOCKET /TCP IP，发送连接、读取、写入报文数据，接收解析返回数据；
- 基于TcpClient的发送与接收Byte[]方法
发送BYTE
1 public static bool SendData(out string msg,TcpClient tcpClient,byte[] sd)
2 {
3 msg = string.Empty;
4 try
5 {
6 tcpClient.GetStream().Write(sd, 0, sd.Length);
7 return true;
8 }
9 catch(Exception ex)
10 {
11 msg = ex.Message;
12 return false;
13 }
14 }
View Code
接收BYTE
1 public static bool ReceiveData(out string msg, TcpClient tcpClient,byte[] rd)
2 {
3 msg = string.Empty;
4 try
5 {
6 int index = 0;
7 do
8 {
9 int len = tcpClient.GetStream().Read(rd, index, rd.Length - index);
10 if (len == 0)
11 return false;//这里控制读取不到数据时就跳出,网络异常断开，数据读取不完整。
12 else
13 index += len;
14 } while (index < rd.Length);
15 return true;
16 }
17 catch(Exception ex)
18 {
19 msg = ex.Message;
20 return false;
21 }
22 }
View Code
- 基于Socket的发送与接收Byte[]方法
发送BYTE
1 public bool SendData(out string msg,byte[] sd)
2 {
3 msg = string.Empty;
4 try
5 {
6 if(!(IsConnected && _Socket != null && _Socket.Connected))
7 {
8 if(!Connect(out msg))
9 {
10 Thread.Sleep(40);
11 if (!Connect(out msg)) return false;
12 }
13 }
14 _Socket.Send(sd, sd.Length, 0);
15 return true;
16 }
17 catch (Exception ex)
18 {
19 msg = ex.Message;
20 Disconnect(out string _msg);
21 return false;
22 }
23 }
View Code
接收BYTE
1 public bool ReceiveData(out string msg,byte[] rd)
2 {
3 msg = string.Empty;
4 try
5 {
6 if (!(IsConnected && _Socket != null && _Socket.Connected))
7 {
8 if (!Connect(out msg))
9 {
10 Thread.Sleep(40);
11 if (!Connect(out msg)) return false;
12 }
13 }
14 _Socket.Receive(rd, rd.Length, 0);
15 return true;
16 }
17 catch (Exception ex)
18 {
19 msg = ex.Message;
20 Disconnect(out string _msg);
21 return false;
22 }
23 }
View Code
这里由于当初写时的想法不同，有的在外层写了连接状态判断有的写在发送接收方法里面；
- 网络判断
1 public static bool PingCheck(string ip, int connectTimeout = 10000)
2 {
3 Ping ping = new Ping();
4 PingReply pr = ping.Send(ip, connectTimeout);
5 if (pr.Status == IPStatus.Success)
6 return true;
7 else
8 return false;
9 }
View Code
欧姆龙PLC的连接与初始化
协议
1 private byte[] HandShake()
2 {
3 #region fins command
4 byte[] array = new byte[20];
5 array[0] = 0x46;
6 array[1] = 0x49;
7 array[2] = 0x4E;
8 array[3] = 0x53;
9
10 array[4] = 0;
11 array[5] = 0;
12 array[6] = 0;
13 array[7] = 0x0C;
14
15 array[8] = 0;
16 array[9] = 0;
17 array[10] = 0;
18 array[11] = 0;
19
20 array[12] = 0;
21 array[13] = 0;
22 array[14] = 0;
23 array[15] = 0;//ERR？
24
25 array[16] = 0;
26 array[17] = 0;
27 array[18] = 0;
28 array[19] = 0;//TODO:ask for client and server node number, the client node will allocated automatically
29 //array[19] = this.GetIPNode(lIP);//本机IP地址的末位
30 #endregion fins command
31 return array;
32 }
View Code
1 private byte[] FinsCmd(RorW rw, PlcMemory mr, MemoryType mt, short ch, short offset, short cnt)
2 {
3 //byte[] array;
4 //if (rw == RorW.Read)
5 // array = new byte[34];
6 //else
7 // array = new byte[(int)(cnt * 2 + 33 + 1)];//长度是如何确定的在fins协议174页
8 byte[] array = new byte[34];//写指令还有后面的写入数组需要拼接在一起！
9 //TCP FINS header
10 array[0] = 0x46;//F
11 array[1] = 0x49;//I
12 array[2] = 0x4E;//N
13 array[3] = 0x53;//S
14
15 array[4] = 0;//cmd length
16 array[5] = 0;
17 //指令长度从下面字节开始计算array[8]
18 if (rw == RorW.Read)
19 {
20 array[6] = 0;
21 array[7] = 0x1A;//26
22 }
23 else
24 {
25 //写数据的时候一个字占两个字节，而一个位只占一个字节
26 if (mt == MemoryType.Word)
27 {
28 array[6] = (byte)((cnt * 2 + 26) / 256);
29 array[7] = (byte)((cnt * 2 + 26) % 256);
30 }
31 else
32 {
33 array[6] = 0;
34 array[7] = 0x1B;
35 }
36 }
37
38 array[8] = 0;//frame command
39 array[9] = 0;
40 array[10] = 0;
41 array[11] = 0x02;
42
43 array[12] = 0;//err
44 array[13] = 0;
45 array[14] = 0;
46 array[15] = 0;
47 //command frame header
48 array[16] = 0x80;//ICF
49 array[17] = 0x00;//RSV
50 array[18] = 0x02;//GCT, less than 8 network layers
51 array[19] = 0x00;//DNA, local network
52
53 array[20] = PLCNode;//DA1
54 array[21] = 0x00;//DA2, CPU unit
55 array[22] = 0x00;//SNA, local network
56 array[23] = PCNode;//SA1
57
58 array[24] = 0x00;//SA2, CPU unit
59 array[25] = 0xFF;
60 //TODO：array[25] = Convert.ToByte(21);//SID//?????----------------------------------00-FF任意值
61
62 //指令码
63 if (rw == RorW.Read)
64 {
65 array[26] = 0x01;//cmdCode--0101
66 array[27] = 0x01;
67 }
68 else
69 {
70 array[26] = 0x01;//write---0102
71 array[27] = 0x02;
72 }
73 //地址
74 //array[28] = (byte)mr;
75 array[28] = GetMemoryCode(mr, mt);
76 array[29] = (byte)(ch / 256);
77 array[30] = (byte)(ch % 256);
78 array[31] = (byte)offset;
79
80 array[32] = (byte)(cnt / 256);
81 array[33] = (byte)(cnt % 256);
82
83 return array;
84 }
View Code
这边连接初始化时需要获取网络节点号
1 public bool Open(out string msg)
2 {
3 msg = string.Empty;
4 try
5 {
6 if (!SocketHelper.PingCheck(Ip, ConnectTimeout))
7 {
8 msg = "网络故障!";
9 return false;
10 }
11 System.Diagnostics.Stopwatch sp = new System.Diagnostics.Stopwatch();
12 sp.Start();
13 tcpClient = new TcpClient();
14 tcpClient.ReceiveTimeout = ReceiveTimeout;
15 tcpClient.SendTimeout = SendTimeout;
16 tcpClient.Connect(Ip, Port);
17 Thread.Sleep(10);
18 if (!tcpClient.Connected)
19 {
20 throw new ApplicationException($"未连接到{Ip}");
21 }
22 if (!SocketHelper.SendData(out msg, tcpClient, HandShake()))
23 {
24 msg = $"连接,数据写入失败:{msg}!";
25 return false;
26 }
27
28 //开始读取返回信号
29 byte[] buffer = new byte[24];
30 if (!SocketHelper.ReceiveData(out msg, tcpClient, buffer))
31 {
32 msg = $"连接握手信号接收失败:{msg}!";
33 return false;
34 }
35
36 if (buffer[15] != 0)//TODO:这里的15号是不是ERR信息暂时不能完全肯定
37 {
38 msg = $"超过最大连接数或内部连接错误";
39 return false;
40 }
41 PCNode = buffer[19];
42 PLCNode = buffer[23];
43 msg = $"连接[{Ip}]成功,耗时{sp.Elapsed.TotalMilliseconds.ToString()}ms";
44 return true;
45
46 }
47 catch (Exception ex)
48 {
49 Close(out string _msg);//连接断开，重试
50 msg = $"连接失败:{ex.Message}";
51 return false;
52 }
53 }
View Code
读取方法
1 public bool ReadWordsByte_B(out string msg, PlcMemory mr, int startIndex, int len, out byte[] reData)
2 {
3 msg = string.Empty; reData = new byte[0];
4 try
5 {
6 System.Diagnostics.Stopwatch sp = new System.Diagnostics.Stopwatch();
7 sp.Start();
8 int i = 0;
9 for (int index = startIndex; index < startIndex + len; index += OmronConsts.MAXREADDATE)
10 {
11 int _newLen = len + startIndex- index;
12 if (_newLen > OmronConsts.MAXREADDATE) _newLen = OmronConsts.MAXREADDATE;
13 i++;
14 byte[] array = FinsCmd(RorW.Read, mr, MemoryType.Word, (short)(index/2), 00, (short)(_newLen/2));
15
16 if (!SocketHelper.SendData(out msg, tcpClient, array))
17 {
18 msg = $"读取,数据写入失败[{i}次]:{msg}!";
19 return false;
20 }
21 byte[] buffer = new byte[30 + _newLen];//用于接收数据的缓存区大小
22 if (!SocketHelper.ReceiveData(out msg, tcpClient, buffer))
23 {
24 msg = $"读取,数据接收失败[{i}次]:{msg}!";
25 return false;
26 }
27 //命令返回成功，继续查询是否有错误码，然后在读取数据
28 if (buffer[11] == 3)
29 {
30 if (!ErrorCode.CheckHeadError(buffer[15], out msg))
31 {
32 msg = $"读取数据失败[{i}次]:{msg}!";
33 return false;
34 }
35 }
36 //endcode为fins指令的返回错误码
37 if (!ErrorCode.CheckEndCode(buffer[28], buffer[29], out msg))
38 {
39 msg = $"读取数据失败[{i}次]:{msg}!";
40 return false;
41 }
42 byte[] _bytes = new byte[_newLen];
43
44 Array.Copy(buffer, 30, _bytes, 0, _newLen);
45
46 reData = reData.Concat(_bytes).ToArray();
47 }
48
49 msg = $"读取({reData.Length})字节数据成功,耗时{sp.Elapsed.TotalMilliseconds.ToString()}ms,{i}次读取";
50 return true;
51 }
52 catch (Exception ex)
53 {
54 msg = ex.Message;
55 return false;
56 }
57 }
View Code
写入方法
1 public bool WriteWordsByte_B(out string msg, PlcMemory mr, short startIndex, byte[] inData)
2 {
3 msg = string.Empty;
4 try
5 {
6 if (inData == null || inData.Length < 1)
7 {
8 msg = "写入数据失败,写入数据为空!";
9 return false;
10 }
11 //奇数补零,写入数据必须为一个字
12 if ((inData.Length % 2) > 0)
13 {
14 inData = inData.Concat(new byte[1] { 0 }).ToArray();
15 }
16 //写入长度大于2000
17 System.Diagnostics.Stopwatch sp = new System.Diagnostics.Stopwatch();
18 sp.Start();
19 int i = 0;int len = inData.Length;
20 for (int index= startIndex; index < startIndex + len; index += OmronConsts.MAXRWRIDATE)
21 {
22 int _newLen = len + startIndex - index;
23 if (_newLen > OmronConsts.MAXRWRIDATE) _newLen = OmronConsts.MAXRWRIDATE;
24 i++;
25 byte[] nData = new byte[_newLen];
26
27 Array.Copy(inData, index- startIndex, nData,0, _newLen);
28
29 byte[] dataHead = FinsCmd(RorW.Write, mr, MemoryType.Word, (short)(index/2), 00, (short)(_newLen /2));
30
31 byte[] zData = new byte[_newLen+34];
32
33 dataHead.CopyTo(zData,0);
34
35 nData.CopyTo(zData, 34);
36
37 if (!SocketHelper.SendData(out msg, tcpClient, zData))
38 {
39 msg = $"写入,数据写入失败[{i}次]:{msg}!";
40 return false;
41 }
42 byte[] rBuffer= new byte[30];
43 if (!SocketHelper.ReceiveData(out msg, tcpClient, rBuffer))
44 {
45 msg = $"写入,数据接收失败[{i}次]:{msg}!";
46 return false;
47 }
48 if (rBuffer[11] == 3)
49 {
50 if (!ErrorCode.CheckHeadError(rBuffer[15], out msg))
51 {
52 msg = $"写入数据失败[{i}次]:{msg}!";
53 return false;
54 }
55 }
56 if (!ErrorCode.CheckEndCode(rBuffer[28], rBuffer[29], out msg))
57 {
58 msg = $"写入数据失败[{i}次]:{msg}!";
59 return false;
60 }
61
62 }
63 msg = $"写入({len})字节数据成功,耗时{sp.Elapsed.TotalMilliseconds.ToString()}ms,{i}次写入";
64 return true;
65 }
66 catch (Exception ex)
67 {
68 msg = ex.Message;
69 return false;
70 }
71 }
View Code
通过读取与写入方法就完成了对欧姆龙PLC的交互
测试结果
完毕!