协议说明图

0000000A000007244F565F50524F

写 UFRAME1[1]

UFRAME1[1]

55 46 52 41 4D 45 31 5B 31 5D //转字节数组

00 0A 55 46 52 41 4D 45 31 5B 31 5D //加长度
{X 2,Y 3,Z 4,A 5,B 6,C 7}

//转字节数组

7B 58 20 32 2C 59 20 33 2C 5A 20 34 2C 41 20 35 2C 42 20 36 2C 43 20 37 7D

//加长度

00 19 7B 58 20 32 2C 59 20 33 2C 5A 20 34 2C 41 20 35 2C 42 20 36 2C 43 20 37 7D

00000028 01 00 0A 55 46 52 41 4D 45 31 5B 31 5D 00 19 7B 58 20 32 2C 59 20 33 2C 5A

20 34 2C 41 20 35 2C 42 20 36 2C 43 20 37 7D

测试结果：（写入成功）
[2021-07-23 21:59:10.082]# SEND HEX>
00 00 00 28 01 00 0A 55 46 52 41 4D 45 31 5B 31 5D 00 19 7B 58 20 32 2C 59 20 33 2C 5A 20 34 2C 41 20 35 2C 42 20 36
2C 43 20 37 7D
[2021-07-23 21:59:10.088]# RECV HEX>
00 00 00 1F 01 00 19 7B 58 20 32 2C 59 20 33 2C 5A 20 34 2C 41 20 35 2C 42 20 36 2C 43 20 37 7D 00 01 01

读 UFRAME1[1]

00 0A 55 46 52 41 4D 45 31 5B 31 5D

0000 00 0D 00 00 0A 55 46 52 41 4D 45 31 5B 31 5D
测试结果：（读取成功）
[2021-07-23 22:00:30.842]# SEND HEX>
00 00 00 0D 00 00 0A 55 46 52 41 4D 45 31 5B 31 5D
[2021-07-23 22:00:30.846]# RECV HEX>
00 00 00 4F 00 00 49 7B 46 52 41 4D 45 3A 20 58 20 32 2E 30 30 30 30 30 2C 20 59 20 33 2E 30 30 30 30 30 2C 20 5A 20
34 2E 30 30 30 30 30 2C 20 41 20 35 2E 30 30 30 30 30 2C 20 42 20 36 2E 30 30 30 30 30 2C 20 43 20 37 2E 30 30 30 30
30 7D 00 01 01
启动程序 main

0004 6D 61 69 6E

0000 00 07 03 0004 6D 61 69 6E

MCGS 读批量

触摸屏发：!SetDevice(kuka1,6,"ReadPV(4,1,DF,60,buffer000)")

Modbus Slave 软 件 设 置 SlaveID 1,Function 03 Hodding Register(4x) Address 0 ,Quanlity

120

000014-Rx:00 03 00 00 00 06 01 03 00 00 00 78

000015-Tx:00 03 00 00 00 F3 01 03 F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
MCGS 读批量

第 1 个浮点数 12.34 如下 Modbus Slave 地址 0 16709 地址 1 28836

000012-Rx:00 0A 00 00 00 06 01 03 00 00 00 78

000013-Tx:00 0A 00 00 00 F3 01 03 F0 41 45 70 A4 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

MCGS 写批量

触摸屏写入 ModbusSlave

000042-Rx:00 13 00 00 00 F7 01 10 00 00 00 78 F0 3F 80 00 00 40 00 00 00 40 40 00 00 40

80 00 00 40 A0 00 00 40 C0 00 00 40 E0 00 00 41 00 00 00 41 10 00 00 41 20 00 00 41 30

00 00 41 40 00 00 41 50 00 00 41 60 00 00 41 70 00 00 41 80 00 00 41 88 00 00 41 90 00

00 41 98 00 00 41 A0 00 00 41 A8 00 00 41 B0 00 00 41 B8 00 00 41 C0 00 00 41 C8 00 00

41 D0 00 00 41 D8 00 00 41 E0 00 00 41 E8 00 00 41 F0 00 00 41 F8 00 00 42 00 00 00 42

04 00 00 42 08 00 00 42 0C 00 00 42 10 00 00 42 14 00 00 42 18 00 00 42 1C 00 00 42 20
00 00 42 24 00 00 42 28 00 00 42 2C 00 00 42 30 00 00 42 34 00 00 42 38 00 00 42 3C 00

00 42 40 00 00 42 44 00 00 42 48 00 00 42 4C 00 00 42 50 00 00 42 54 00 00 42 58 00 00

42 5C 00 00 42 60 00 00 42 64 00 00 42 68 00 00 42 6C 00 00 42 70 00 00

000043-Tx:00 13 00 00 00 06 01 10 00 00 00 78

读 KUKA 的 Int 数据

读变量 Target 数据类型 Int

00 00 00 09 00 00 06 54 61 72 67 65 74

Target 的值是 123456789

[2021-07-25 20:53:18.894]# SEND HEX>
00 00 00 09 00 00 06 54 61 72 67 65 74
[2021-07-25 20:53:18.906]# RECV HEX>
00 00 00 0F 00 00 09 31 32 33 34 35 36 37 38 39 00 01 01

写 KUKA 的 Int 数据

写变量 Target 数据类型 Int

定入 Target 的值为 1234

00 00 00 0F 01 00 06 54 61 72 67 65 74 00 04 31 32 33 34

[2021-07-25 22:16:48.091]# SEND HEX>

00 00 00 0F 01 00 06 54 61 72 67 65 74 00 04 31 32 33 34
[2021-07-25 22:16:48.114]# RECV HEX>
00 00 00 0A 01 00 04 31 32 33 34 00 01 01
写入成功
MCGS 读 KUKA 的 Int 数据

读地址 12000（在 MCGS 中要填 1）

返回数据的值为 1234

000028-Rx:00 07 00 00 00 06 01 03 2E E0 00 02

000029-Tx:00 07 00 00 00 07 01 03 04 00 00 04 D2

读取成功

MCGS 写入 KUKA 的 Int 数据

写地址 12000（在 MCGS 中要填 1）

写值 305419896 0x 12345678

000038-Rx:00 03 00 00 00 0B 01 10 2E E0 00 02 04 12 34 56 78

000039-Tx:00 03 00 00 00 06 01 10 2E E0 00 02

写入成功

Socket 读 GroupNum1[1]

00 00 00 0F 00 00 0C 47 72 6F 75 70 4E 75 6D 31 5B 31 5D

[2021-07-31 20:19:33.696]# SEND HEX>

00 00 00 0F 00 00 0C 47 72 6F 75 70 4E 75 6D 31 5B 31 5D
[2021-07-31 20:19:33.696]# RECV HEX>
00 00 00 08 00 00 02 31 30 00 01 01
按位操作

读 57644.7 一个位，MSGS 发出的通信桢

00 02 00 00 00 06 01 03 E1 2C 00 01

读 57644.0 一个位，MSGS 发出的通信桢

00 08 00 00 00 06 01 03 E1 2C 00 01

读 57644.0 57645.0 两个位，MSGS 发出的通信桢

00 02 00 00 00 06 01 03 E1 2C 00 02