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modbus_tcp_server(codesys).doc
MODBUS TCP SERVER 在 LTI MOTION ONE 控制器上的实现 (Codesys)
一．概述
由于客户的成本需求，客户想选择第三方的触摸屏幕和 LTI 的 MOTION ONE 进行通讯
（以太网），通讯接口选择了控制器本体的以太网接口，由于 MODBUS TCP SERVER 通讯
软件功能块不是 CODESYS 内核自有的块，需要另外购买，所以我利用 CODESYS 内部原
有的底层功能块（SYSockets.LIB）开发了一个 MODBUS TCP SERVER DEMO 程序，这样
MOTION ONE 就可以和市面上几乎所有的触摸屏进行以太网通讯了。
以下是程序配置及源代码，经过和 MODSCAN 和威伦触摸屏的实际 MODBU-TCP 通讯，
验证了这个程序的功能，这个程序支持 01，03，05，06，15，16 MODBU-TCP 读写字，读
写位功能码。
VAR_GLOBAL
VIRTUALPOS: LREAL;
TEST_T:INT;
can_encoder_pos:UDINT;
input_byte:ARRAY[1..250] OF BYTE;
input_byte1:ARRAY[1..250] OF BYTE;
mw_area AT %MB1000:ARRAY[1..500] OF BYTE;
: ARRAY[1..512] OF BOOL;
mx_area
output_byte: ARRAY[1..250]OF BYTE;
mw_temp AT%MW1000: ARRAY[1..500] OF INT;
write_len:INT;
send_do: BOOL;
mw_area_use AT %MW2000:ARRAY[1..500] OF INT;
ton2: TON;
test_trigger: BOOL;
t1: TON;
receive1_tmp:BYTE;
flag:BOOL;
test_lreal AT%MD1000 :LREAL;
EN_READ: BOOL;
en_camin: BOOL;
EN_CAM: BOOL;
addressPointer:POINTER TO SOCKADDRESS;
address:SOCKADDRESS;
ip:STRING:='192.168.39.100'; （*PLC IP ADDRESS*）
send:STRING:='0001t';
receive:STRING;
receive1:ARRAY[1..300] OF BYTE;
port: WORD:=502; （*MODBUS——TCP 端口*）
objectArray:ARRAY[0..6] OF REAL;
tcp_connect_state:BOOL;
tcp_connect_time1:TON;
tcp_connect_time2:TON;
get_last: BOOL;
protocol_id:INT;
device_id:INT;
send1:ARRAY[1..300] OF BYTE;
torque_real AT%MD2012:REAL;
acttorque: LREAL;
actvelocity:LREAL;
virtual_speed AT %MD2016:DINT;
tttt AT %MD2000:ARRAY[1..100] OF DINT;
Master_axis_ref:axis_ref;
switch_master:INT;
start_syn:BOOL;
in_syn:BOOL;
end_of_profile:BOOL;
END_VAR
PROGRAM TCP_socket_test
VAR
result: BOOL;
socketId: DINT;
terminate: BOOL;
dwValue: DINT;
bResult: BOOL;
test_state: BOOL;
send: STRING;
error_now: BOOL;
time_trigger: BOOL;
SysSockGetLastError1:SysSockGetLastError;
MasterSocketList:SOCKET_FD_SET;
SlaveSocketList:SOCKET_FD_SET;
SelectTimeOut:SOCKET_TIMEVAL;
TCPindex: INT;
diSize: DINT;
TCPMax: DINT;
tcp_state: INT;
SocketHandle:DINT;
move_ref: INT;
END_VAR
PROGRAM ：TCP_socket_test
address.sin_addr:=SysSockInetAddr(ip);
address.sin_family:=SOCKET_AF_INET;
address.sin_port:=SysSockHtons(port);
addressPointer:=ADR(address);
IF terminate=FALSE THEN
CASE tcp_state OF
0:
socketId := SysSockCreate(SOCKET_AF_INET,SOCKET_STREAM,0);
IF socketId <> SOCKET_INVALID THEN
dwValue := 1;
(*Set the option that we can reuse 'old' port addresses *)
SysSockSetOption(socketId,
SOCKET_SOL,
SOCKET_SO_REUSEADDR,
ADR(dwValue), SIZEOF (dwValue));
tcp_state := 10;
END_IF
10:bResult := SysSockBind(socketId, ADR(address), SIZEOF(address));
IF bResult THEN
tcp_state := 20;
END_IF
20:
bResult := SysSockListen(socketId, 255);
IF bResult THEN
MasterSocketList.fd_count := 1;
MasterSocketList.fd_array[0] := socketId;
tcp_state := 30;
END_IF
30:
SlaveSocketList:=MasterSocketList;
:=
SelectTimeOut.tv_sec := 30;
SelectTimeOut.tv_usec := 0;
diSize
ADR(SelectTimeOut));
IF diSize > 0 THEN
tcp_state := 50;
SysSockSelect(SOCKET_FD_SETSIZE,
ADR(SlaveSocketList),
0,
0,
TCPindex := 0;
END_IF
50:
SocketHandle := SlaveSocketList.fd_array[TCPindex];
IF SocketHandle = socketId THEN
diSize := SIZEOF(Address);
SocketHandle:=SysSockAccept(socketId, ADR(Address), ADR(address));
IF SocketHandle <> SOCKET_INVALID THEN
TCPMax := SocketHandle;
MasterSocketList.fd_array[MasterSocketList.fd_count] := SocketHandle;
MasterSocketList.fd_count := MasterSocketList.fd_count + 1;
END_IF
tcp_state := 100;
END_IF
100:
(* SysSockSend(socketId,ADR(send),SIZEOF(send),1);*)
SysSockRecv(SocketHandle,ADR(receive1),SIZEOF(receive1),1);
FOR move_ref:=7 TO receive1[6]+7 DO
input_byte1[move_ref-6] :=receive1[move_ref];
END_FOR;
protocol_id:=BYTE_TO_INT(receive1[4]);
device_id:=BYTE_TO_INT(receive1[7]);
IF
protocol_id=0 AND
(*modbus_tcp,protocol_id=0*)
device_id>=0
AND receive1[1]<>0
THEN
frame_process();
tcp_state := 120;
END_IF;
120:
IF send_do THEN
send1[1]:=receive1[1];send1[2]:=receive1[2];
send1[3]:=0;send1[4]:=0;
send1[5]:=0;send1[6]:=INT_TO_BYTE(write_len-2);
FOR move_ref:=7 TO 7+(write_len-2) DO
send1[move_ref]:=output_byte[move_ref-6];
END_FOR;
SysSockSend(SocketHandle,ADR(send1),(write_len-1+6),1);
receive1[1]:=0;
send_do:=FALSE;
END_IF;
tcp_state := 100;
END_CASE;
END_IF;
IF terminate = TRUE THEN (* close socket *)
SysSockClose(socketId);
socketId := 0;
tcp_state:=0;
result := FALSE;
END_IF
PROGRAM frame_process
VAR
length_check:INT;
crc_out:WORD;
crc_temp:WORD;
address_temp:INT;
move_to_send:INT;
byte_len:INT;
mod_state:INT;
length_temp: INT;
length_check1: INT;
crc_out1: WORD;
write_area:ARRAY[1..250] OF BYTE;
x:INT;
control_temp: WORD;
offset_temp:INT;
END_VAR
Frame_process
IF (( input_byte1[1]<16#FF) AND(
(input_byte1[2]=05)
OR( input_byte1[2]=6 )OR(input_byte1[2]=16)OR(input_byte1[2]=15)) THEN
input_byte1[1]>=0)) AND(
OR(
input_byte1[2]=03
(input_byte1[2]=01) OR
)
*)
OR
input_byte1[2]=06
OR input_byte1[2]=01 OR
(*CRC16 check action
IF input_byte1[2]=03
input_byte1[2]=05 THEN
length_check:=6;
END_IF;
IF input_byte1[2]=16 OR input_byte1[2]=15 THEN
length_check:=7+input_byte1[7];
END_IF;
(* crc_check( lengthcrc:= length_check,
inbyte:=input_byte1,
CRC16CVT=>crc_out
);
crc_temp:=SHL(BYTE_TO_WORD(input_byte1[length_check+1]
),8)
OR
BYTE_TO_WORD(input_byte1[length_check+2] );*)
( crc_out = crc_temp<>0) AND*) (send_do =FALSE )THEN
(* CRC16 check OK then the process is going on ,judge the function code to response *)
IF (*
CASE input_byte1[2] OF
01:(*read the coils*)
output_byte[1]:=17; output_byte[2]:=01;
address_temp:=SHL(BYTE_TO_INT(input_byte1[3]),8)
+
( BYTE_TO_INT(input_byte1[4]));
length_temp:=SHL(BYTE_TO_INT(input_byte1[5]),8)
+(BYTE_TO_INT(input_byte1[6]));
mod_state:=length_temp MOD 8;
IF mod_state<>0 THEN
byte_len:=1+length_temp/8;
ELSE
byte_len:=length_temp/8;
END_IF;
output_byte[3]:=INT_TO_BYTE(byte_len);
FOR move_to_send:=4 TO byte_len+3 DO
IF mod_state=0 THEN
output_byte[move_to_send].0:=mx_area[address_temp+1+(move_to_send-4)*8];
output_byte[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send].4:=mx_area[address_temp+(move_to_send-4)*8+5];
output_byte[move_to_send].5:=mx_area[address_temp+(move_to_send-4)*8+6];
output_byte[move_to_send].6:=mx_area[address_temp+(move_to_send-4)*8+7];
output_byte[move_to_send].7:=mx_area[address_temp+(move_to_send-4)*8+8];
ELSE
IF move_to_send=byte_len+3 THEN
CASE mod_state OF
1:
output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_byte
[move_to_send]:=output_byte[move_to_send] AND 16#0001;
2:
output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_byte
[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send]:=output_byte[move_to_send] AND
16#0003;
3:
output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_byte
[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send]:=output_byte[move_to_send] AND 16#0007;
4:
output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_byte
[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send]:=output_byte[move_to_send] AND
16#000F;
5:
output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_byte
[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send].4:=mx_area[address_temp+(move_to_send-4)*8+5];
output_byte[move_to_send]:=output_byte[move_to_send] AND 16#001F;
6:output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_b
yte[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send].4:=mx_area[address_temp+(move_to_send-4)*8+5];
output_byte[move_to_send].5:=mx_area[address_temp+(move_to_send-4)*8+6];
output_byte[move_to_send]:=output_byte[move_to_send] AND
16#003F;
7:output_byte[move_to_send].0:=mx_area[address_temp+(move_to_send-4)*8+1];output_b
yte[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send].4:=mx_area[address_temp+(move_to_send-4)*8+5];
output_byte[move_to_send].5:=mx_area[address_temp+(move_to_send-4)*8+6];
output_byte[move_to_send].6:=mx_area[address_temp+(move_to_send-4)*8+7];
output_byte[move_to_send]:=output_byte[move_to_send] AND 16#007F;
END_CASE;
ELSE
output_byte[move_to_send].0:=mx_area[address_temp+1+(move_to_send-4)*8];
output_byte[move_to_send].1:=mx_area[address_temp+(move_to_send-4)*8+2];
output_byte[move_to_send].2:=mx_area[address_temp+(move_to_send-4)*8+3];
output_byte[move_to_send].3:=mx_area[address_temp+(move_to_send-4)*8+4];
output_byte[move_to_send].4:=mx_area[address_temp+(move_to_send-4)*8+5];
output_byte[move_to_send].5:=mx_area[address_temp+(move_to_send-4)*8+6];
output_byte[move_to_send].6:=mx_area[address_temp+(move_to_send-4)*8+7];
output_byte[move_to_send].7:=mx_area[address_temp+(move_to_send-4)*8+8];
END_IF;
END_IF;
END_FOR;
length_check1:=3+byte_len;
(*
crc_check( lengthcrc:= length_check1,
inbyte:=output_byte,
CRC16CVT=>crc_out1 );
output_byte[4+byte_len]:=
WORD_TO_BYTE(SHR((crc_out1
AND
16#FF00 ),8));
output_byte[5+byte_len]:= WORD_TO_BYTE(crc_out1 AND 16#FF );*)
write_len:= 5+byte_len;send_do:=TRUE;
15:(*force multi coils*)
address_temp:=SHL(BYTE_TO_INT(input_byte1[3]),8)
+
( BYTE_TO_INT(input_byte1[4]));
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