DCS與機(jī)器人通信時(shí),F(xiàn)unuc作為服務(wù)器端,DCS作為客戶(hù)端通過(guò)開(kāi)疆Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)向Funuc發(fā)送讀寫(xiě)請(qǐng)求,F(xiàn)unuc應(yīng)答后DCS通過(guò)Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)接收Funuc的數(shù)據(jù),實(shí)現(xiàn)數(shù)據(jù)的傳遞,注意:Modbus不能同步進(jìn)行通信,主機(jī)在同一時(shí)間內(nèi)只能向一個(gè)從機(jī)發(fā)送請(qǐng)求,總線上每次只有一個(gè)數(shù)據(jù)進(jìn)行傳輸,即主機(jī)發(fā)送,從機(jī)應(yīng)答,主機(jī)不發(fā)送,總線上就沒(méi)有數(shù)據(jù)通信。從機(jī)不會(huì)自己發(fā)送消息給主站,只能回復(fù)從主機(jī)發(fā)送的消息請(qǐng)求。
1、硬件連接,此處端口1,IP設(shè)置:MENU-設(shè)置-設(shè)置2-主機(jī)通訊,選擇TCP/IP設(shè)置;
2、在此界面可以設(shè)置FUNUC的IP,以及固定要連接的客戶(hù)端的IP,防止未授權(quán)的主機(jī)連接機(jī)器;
3、端口設(shè)置:MENU-下一頁(yè)-系統(tǒng)-變量進(jìn)入MODBUSTCP設(shè)置,在PORT參數(shù)中修改端口號(hào);
4、PLC要讀寫(xiě)的機(jī)器人的寄存器數(shù)值設(shè)定:此設(shè)定值要大于PLC要讀寫(xiě)的存儲(chǔ)器數(shù)量,MENU-IO-MODBUS TCP進(jìn)入,此處可以設(shè)置MODBUS TCP通信參數(shù),比如要寫(xiě)UI【1】-UI【20】需要3個(gè)16位存儲(chǔ)器,還要寫(xiě)6個(gè)GI存儲(chǔ)器,此處輸入字?jǐn)?shù)位4就顯然不夠了 可以設(shè)大一點(diǎn);
5、機(jī)器人存儲(chǔ)器分配:MODBUS TCP通信時(shí)機(jī)器人機(jī)架號(hào)固定為96,槽位號(hào)為1,UO需要兩個(gè)存儲(chǔ)器對(duì)應(yīng)的MB地址位30001-30002
UI需要兩個(gè)存儲(chǔ)器對(duì)應(yīng)的MB地址位40003-40004,GI需要6個(gè)存儲(chǔ)器 對(duì)應(yīng)的MB地址位40005-40010;
6、從站設(shè)置已經(jīng)完成,打開(kāi)Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)配置軟件進(jìn)行Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)配置,打開(kāi)軟件,點(diǎn)擊紅圈處新建項(xiàng)目選擇PN2MTC;
7、設(shè)置Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)在Profinet網(wǎng)絡(luò)中的IP地址及設(shè)備名稱(chēng)(新版可通過(guò)組態(tài)軟件進(jìn)行分配);
8、設(shè)置Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)的ModbusTCP通訊參數(shù)首先設(shè)置Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)在客戶(hù)端一側(cè)的IP地址;
9、在ModbusTCP處右鍵添加從站,并填寫(xiě)服務(wù)器(機(jī)器人)的IP地址;
10、在NODE處右鍵添加所需功能碼,比如用的是03H功能碼讀取40000地址區(qū)那么我們就選擇Read Holding Registers(讀保持寄存器);
11、主站軟件中讀取40001-40010是個(gè)寄存器數(shù)據(jù),但是主站軟件中寄存器地址從40001開(kāi)始,而Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)是從40000開(kāi)始所以地址要填0,寄存器數(shù)量10個(gè),內(nèi)存映射起始地址為0對(duì)應(yīng)Profinet主站起始地址;
12、到此Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)設(shè)置完畢,打開(kāi)DCS的組態(tài)軟件SYCON.net;
13、添加Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)的GSD文件,點(diǎn)擊Improt Device Descriptions;
14、選擇GSD文件所在的文件夾,選中GSD文件;
15、選擇開(kāi)疆智能KJ-PNG-206,將Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)掛在Profinet總線上,雙擊Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)進(jìn)入配置界面;
16、點(diǎn)擊Add Module添加Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)的輸入輸出長(zhǎng)度,設(shè)置Profinet轉(zhuǎn)ModbusTCP網(wǎng)關(guān)的IP地址;
17、組態(tài)好之后導(dǎo)入到DCS中即可正常使用,對(duì)指定的輸入輸出地址進(jìn)行讀寫(xiě)即可。
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