ABB機器人socket讀取omron D10並寫入D11

MODULE MainModule
    
	VAR socketdev socket2;
	VAR byte handshake{20}:=[70, 73, 78, 83, 0, 0, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1];
    VAR byte readplcD10{34}:=[70, 73, 78, 83, 0, 0, 0, 26, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 1, 130, 0, 10, 0, 0, 1];
    VAR byte writeplcD11{36}:=[70, 73, 78, 83, 0, 0, 0, 28, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 2, 130, 0, 11, 0, 0, 1, 0, 0];
    VAR byte plcback{34}:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
    VAR num D10;
    VAR num D10H;
    VAR num D10L;
	PROC main()            
        readomronD10;
        writeomronD11;
	ENDPROC
    PROC readomronD10()
        SocketClose socket2;
        SocketCreate socket2;
        SocketConnect socket2,"192.168.125.2", 9600 \Time:= 1;
        socketSend socket2 \Data:=handshake;
        SocketReceive socket2 \Data:=plcback;
        plcback:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1];
        readplcD10:=[70, 73, 78, 83, 0, 0, 0, 26, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 1, 130, 0, 10, 0, 0, 1];
        SocketSend socket2 \Data:=readplcD10; 
        SocketReceive socket2 \Data:=plcback;
        SocketClose socket2;
        D10H:=plcback{31};
        D10L:=plcback{32};
        D10 := plcback{31}*256 + plcback{32};
    ENDPROC
        PROC writeomronD11()
        SocketClose socket2;
        SocketCreate socket2;
        SocketConnect socket2,"192.168.125.2", 9600 \Time:= 1;
        socketSend socket2 \Data:=handshake;
        SocketReceive socket2 \Data:=plcback;
        plcback:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1];
        writeplcD11:=[70, 73, 78, 83, 0, 0, 0, 28, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 2, 130, 0, 11, 0, 0, 1, 0, 0];
        writeplcD11{35}:=D10H;
        writeplcD11{36}:=D10L;
        SocketSend socket2 \Data:=writeplcD11; 
        SocketReceive socket2 \Data:=plcback;
        SocketClose socket2;
    ENDPROC
    
ENDMODULE

by 17551023102

MODULE MainModule
    
	VAR socketdev socket2;
	VAR byte handshake{20}:=[70, 73, 78, 83, 0, 0, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1];
    VAR byte readplcD10{34}:=[70, 73, 78, 83, 0, 0, 0, 26, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 1, 130, 0, 10, 0, 0, 1];
    VAR byte writeplcD11{36}:=[70, 73, 78, 83, 0, 0, 0, 28, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 2, 130, 0, 11, 0, 0, 1, 0, 0];
    VAR byte plcback{34}:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
    VAR num D10;
    VAR num D10H;
    VAR num D10L;
	PROC main()            
        readomronD10;
        writeomronD11;
	ENDPROC
    PROC readomronD10()
        SocketClose socket2;
        SocketCreate socket2;
        SocketConnect socket2,"192.168.125.2", 9600 \Time:= 1;
        socketSend socket2 \Data:=handshake;
        SocketReceive socket2 \Data:=plcback;
        plcback:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1];
        readplcD10:=[70, 73, 78, 83, 0, 0, 0, 26, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 1, 130, 0, 10, 0, 0, 1];
        SocketSend socket2 \Data:=readplcD10; 
        SocketReceive socket2 \Data:=plcback;
        SocketClose socket2;
        D10H:=plcback{31};
        D10L:=plcback{32};
        D10 := plcback{31}*256 + plcback{32};
    ENDPROC
        PROC writeomronD11()
        SocketClose socket2;
        SocketCreate socket2;
        SocketConnect socket2,"192.168.125.2", 9600 \Time:= 1;
        socketSend socket2 \Data:=handshake;
        SocketReceive socket2 \Data:=plcback;
        plcback:=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1];
        writeplcD11:=[70, 73, 78, 83, 0, 0, 0, 28, 0, 0, 0, 2, 0, 0, 0, 0, 128, 0, 2, 0, 2, 0, 0, 1, 0, 0, 1, 2, 130, 0, 11, 0, 0, 1, 0, 0];
        writeplcD11{35}:=D10H;
        writeplcD11{36}:=D10L;
        SocketSend socket2 \Data:=writeplcD11; 
        SocketReceive socket2 \Data:=plcback;
        SocketClose socket2;
    ENDPROC
    
ENDMODULE

by 17551023102