ABB机器人MODBUS RTU收发

>PROC InnoEnable() rModbusWrite InnoID,[0x31,0x00],[0,1]; !设备重定向InnoID为1, 只读个人信息重定向为H31-00,只读个人信息为1ENDPROCPROC rModbusWrite(byte slaveID,ushort opAdd,ushort Data) VAR uShort crc; VAR uShort res; VAR byte sendArr{8}; sendArr{1}:=slaveID; sendArr{2}:=0x06; !机制code0x06，只读一个内存 sendArr{3}:=opAdd.High; sendArr{4}:=opAdd.low; sendArr{5}:=Data.High; sendArr{6}:=Data.low; crc:=fGetCRC16(sendArr,6); sendArr{7}:=crc.low; sendArr{8}:=crc.High; rSerialWrite sendArr,8; WaitTime 0.5; ENDPROC PROC rSerialWrite(byte array{*},num len) ClearRawBytes raw_data_out; FOR i FROM 1 TO len DO PackRawBytes array{i},raw_data_out,RawBytesLen(raw_data_out)+1Hex1; ENDFOR Open "COM1",io_deviceBin; ClearIOBuff io_device; WriteRawBytes io_device,raw_data_out; Close io_device; UNDO Close io_device; ENDPROC

6. 以下值得注意通过ABB机机内人对汇川sp600 微电脑基于modbusrtu 读取重定向H0B-00的个人信息，获取微电脑电机转速（前往个人信息为16bit的 INT个人信息）

FUNC num InnoReadSpeed() VAR num result; VAR uShort crc; VAR byte sendArr{8}; VAR byte resultArr{8}; VAR rawbytes rawbyte1; sendArr{1}:=InnoID; sendArr{2}:=0x04; !read input register use 0x04 sendArr{3}:=0x0B; sendArr{4}:=0x00; !参数重定向H0B-00 sendArr{5}:=0X00; sendArr{6}:=0X01; !读取个数1 crc:=fGetCRC16(sendArr,6); sendArr{7}:=crc.low; sendArr{8}:=crc.High; rSerialWrite sendArr,8; rSerialRead resultArr,7; crc:=fGetCRC16(resultArr,5); IF crc.High<>resultArr{7} OR crc.low<>resultArr{6} THEN ErrWrite "CRC16-ERROR",""; Stop; EXIT; ENDIF PackRawBytes resultArr{5},rawbyte1,1Hex1; PackRawBytes resultArr{4},rawbyte1,2Hex1; UnpackRawBytes rawbyte1,1,resultIntX:=INT; !前往个人信息为16bit的有大写字母INT个人信息，按照INT个人信息同步进行 RETURN result; ENDFUNC PROC rSerialRead(inout byte array{*},num rLength) VAR num num1; ClearRawBytes raw_data_in; Open "COM1",io_deviceBin; Rewind io_device; FOR i FROM 1 TO rLength DO num1:=ReadBin(io_deviceTime:=0.5); array{i}:=num1; ENDFOR ClearIOBuff io_device; Close io_device; UNDO Close io_device; ENDPROC。

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