如何使用 Ads.NET 在 TwinCAT 中读取 NCTOPLC_AXIS_REF？答案

【问题标题】：How can I read out the NCTOPLC_AXIS_REF in TwinCAT using Ads.NET?如何使用 Ads.NET 在 TwinCAT 中读取 NCTOPLC_AXIS_REF？
【发布时间】：2022-10-04 17:12:11
【问题描述】：

我正在尝试从 PLC 中读取 NCTOPLC_AXIS_REF，但是当我执行 client.ReadAny(handle) 时，它会引发 System.ExecutionEngineException。我尝试在我的结构中使用[StructLayout(LayoutKind.Sequential, Pack = 1)] 和[MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)]，但到目前为止没有成功。

【问题讨论】：

标签： twincat

【解决方案1】：

这是有效的结构：

[StructLayout(LayoutKind.Sequential, Pack = 1)]
public class NcToPlcAxisRef
{
    public uint StateDWord;
    public uint ErrorCode;
    public uint AxisState;
    public uint AxisModeConfirmation;
    public uint HomingState;
    public uint CoupleState;
    public uint SvbEntries;
    public uint SafEntries;
    public uint AxisId;
    public uint OpModeDWord;
    public double ActPos;
    public double ModuloActPos;
    public ushort ActiveControlLoopIndex;
    public ushort ControlLoopIndex;
    public int ModuloActTurns;
    public double ActVelo;
    public double PosDiff;
    public double SetPos;
    public double SetVelo;
    public double SetAcc;
    public double TargetPos;
    public double ModuloSetPos;
    public int ModuloSetTurns;
    public ushort CmdNo;
    public ushort CmdState;
    public double SetJerk;
    public double SetTorque;
    public double ActTorque;
    public uint NcToPlcRefState2Value;
    public uint NcToPlcRefState3Value2;
    public uint TouchProbeState;
    public uint TouchProbeCounter;

    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
    public byte[] CamCouplingStates = new byte[8];

    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
    public ushort[] CamCouplingTableID = new ushort[8];
    public double ActTorqueDerivative;
    public double SetTorqueDerivative;
    public double AbsPhasingPos;
    public double TorqueOffset;
    public double ActPosWithoutPosCorrection;
    public double ActAcc;
    public uint DcTimeStamp;
}

【讨论】：