private static void Syncdbus()
{
while (true)
{
if (dbusThread.exitEvent.WaitOne(Dbus.Cycle))
{
break;
}
int AgvNum;
#region AGV1
AgvNum = 1;
if (UdpSever.EndPointArray[AgvNum] != null)
{
//Sever => AGV 1
Dbus.SetRegister(AgvNum, 1);
//PLC => AGV
//56 -60 => 26-30
//更新Modbus数据到Dbus
UpdateModbusToDbus(AgvNum, 56, 26, 5);
//设置到AGV
Dbus.SetRegister(AgvNum, 26, 30);
//AGV => PLC
//20 -25 => 50-55
//更新Dbus数据到Modbus
UpdateDbusToModbus(AgvNum, 20, 50, 6);
//设置到Modbus
Profinet.SetRegister(50, 55);
}
#endregion
#region AGV2
//Sever => AGV 1
AgvNum = 2;
if (UdpSever.EndPointArray[AgvNum] != null)
{
Dbus.SetRegister(AgvNum, 1);
//PLC => AGV
//67 -71 => 37-41
//更新Modbus数据到Dbus
UpdateModbusToDbus(AgvNum, 67, 37, 5);
//设置到AGV
Dbus.SetRegister(AgvNum, 37, 41);
//AGV => PLC
//31 -36 => 61-66
//更新Dbus数据到Modbus
UpdateDbusToModbus(AgvNum, 31, 61, 6);
//设置到Modbus
Profinet.SetRegister(61, 66);
}
#endregion
}
}
/// <summary>
/// 同步Modbus设备数据
/// </summary>
private static void SyncModbus()
{
while (true)
{
if (Profinet.ErrorNum > 10)
{
//连续10次出错，重新连接
SyncState.ModbusTcp = false;
break;//退出当前进程
}
if (SyncState.ModbusTcp)
{
if (modbusThread.exitEvent.WaitOne(Profinet.Cycle))
{
break;
}
#region MES
int num;
//读取 0
num = 0;
if (Profinet.Clear[num])
{
//此处循环是防止清除失败，做了重读验证
while (true)
{
//清除寄存器
Profinet.Register[num] = 0;
Profinet.SetRegister(num, num);
Thread.Sleep(100);
//读取结果
Profinet.GetRegister(num, num);
if (Profinet.Register[num] == 0)
{
Profinet.Clear[num] = false;
break;
}
}
}
else
{
Profinet.GetRegister(num, num);
Profinet.RegisterCompare[num] = Profinet.Register[num];
}
//读取 20
num = 20;
if (Profinet.Clear[num])
{
//此处循环是防止清除失败，做了重读验证
while (true)
{
//清除寄存器
Profinet.Register[num] = 0;
Profinet.SetRegister(num, num);
Thread.Sleep(100);
//读取结果
Profinet.GetRegister(num, num);
if (Profinet.Register[num] == 0)
{
Profinet.Clear[num] = false;
break;
}
}
}
else
{
Profinet.GetRegister(num, num);
Profinet.RegisterCompare[num] = Profinet.Register[num];
}
//写入 1-14
// Profinet.SetRegister(1, 14);
Profinet.SetRegister(1, 6);
Profinet.SetRegister(8, 14);
//写入 21-34
Profinet.SetRegister(21, 26);
Profinet.SetRegister(28, 34);
#endregion
#region PLC
//读取 56-60
Profinet.GetRegister(56, 60);
//读取 67-71
Profinet.GetRegister(67, 71);
//写入 50-55
Profinet.SetRegister(50, 55);
//写入 61-66
Profinet.SetRegister(61, 66);
#endregion
}
}
}
