AdsStream的使用

本例子是测试ads通信的。

1.首先添加TwinCAT.Ads引用

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using TwinCAT.Ads;
namespace AdsProject
{
    public partial class Main : Form
    {
        public TcAdsClient _client = null;
        //创建句柄
        public int _handleBool = 0;
        public int _handleByte = 0;
        public int _handleInt = 0;
        public int _handleArray= 0;//int
        public int _handleStruct = 0;//int16 byte real（2+1+4=7） （plc中的Int对应的C#中的int16,Dint对应int,real对应float，lreal对应double,Dword对应uint32）
        public int _handleStruct2 = 0;//高级结构体句柄

        public int _notificationHandleInt = 0;
        public int _notificationHandleStruct = 0;
        public int _notificationHandleStruct2 = 0;

        [StructLayout(LayoutKind.Sequential, Pack = 8)]
        struct TestStruct
        {
            [MarshalAs(UnmanagedType.I2)]
            public Int16 nData;
            [MarshalAs(UnmanagedType.I1)]
            public byte byVal;
            [MarshalAs(UnmanagedType.R4)]
            public float fVal;
        }

        public Main()
        {
            InitializeComponent();
        }
        private void Main_Load(object sender, EventArgs e)
        {
            try
            {
                if (_client == null)
                {
                    _client = new TcAdsClient();
                }

                //Occurs when the ADS device sends a ADS Notification(通知) to the client.
                //当PLC发送数据给客户端的时候触发回调函数
                //回调方式1
                _client.AdsNotification += new AdsNotificationEventHandler(AdsNotificationEventOnChange);
                //回调方式2
                _client.AdsNotificationEx += new AdsNotificationExEventHandler(AdsNotificationEventOnChangeEx);
                _client.Connect(851);
                _handleBool = _client.CreateVariableHandle("MAIN.Data_Bool");
                _handleByte = _client.CreateVariableHandle("MAIN.Data_Byte");
                _handleInt = _client.CreateVariableHandle("MAIN.Data_Int");
                _handleArray = _client.CreateVariableHandle("MAIN.Data_Array");
                _handleStruct = _client.CreateVariableHandle("MAIN.Data_Struct");
                _handleStruct2 = _client.CreateVariableHandle("GVL.stAxis");
            }
            catch(Exception ex)
            {
                MessageBox.Show(ex.Message);
            }

        }

        //回调函数2：当设备向客户端发送数据的时候触发
        private void AdsNotificationEventOnChangeEx(object sender, AdsNotificationExEventArgs e)
        {
            if (e.NotificationHandle == _notificationHandleInt)
            {
                Debug.WriteLine(e.Value.ToString());
                this.BeginInvoke(new Action(() =>
                {
                    this.txtReadInt.Text = e.Value.ToString();
                }));
            }
            else if (e.NotificationHandle == _notificationHandleStruct)
            {
                TestStruct testc = (TestStruct)e.Value;
                Debug.WriteLine(testc.nData.ToString());
                Debug.WriteLine(testc.byVal.ToString());
                Debug.WriteLine(testc.fVal.ToString());
                //因为是跨线程操作
                this.BeginInvoke(new Action(() =>
                {
                    this.txtReadStructInt16.Text = testc.nData.ToString();
                    this.txtReadStructByte.Text = testc.byVal.ToString();
                    this.txtReadStructFloat.Text = testc.fVal.ToString();
                }));
            }
            //读取高级结构体
            else if (e.NotificationHandle==_notificationHandleStruct2)
            {
                Plc_StAxisInfo plcStAxis = new Plc_StAxisInfo();
                plcStAxis = (Plc_StAxisInfo)e.Value;
                foreach (Plc_StAxis plc_StAxis in plcStAxis.Axis)
                {
                    //获取结构体中的所有字段
                    FieldInfo[] fieldInfos = typeof(Plc_StAxis).GetFields();
                    int FieldCount = fieldInfos.Length;
                    for(int i=0;i< FieldCount;i++)
                    {
                        if (fieldInfos[i].FieldType.Name == "Byte[]")
                        {
                            byte[] b = (byte[])fieldInfos[i].GetValue(plc_StAxis);
                            foreach (var item in b)
                            {
                                Debug.WriteLine(item.ToString());
                            }
                        }
                        else if (fieldInfos[i].FieldType.Name == "Double[]")
                        {
                            double[] d = (double[])fieldInfos[i].GetValue(plc_StAxis);
                            foreach (var item in d)
                            {
                                Debug.WriteLine(item.ToString());
                            }
                        }
                        else
                        {
                            //获取字段值
                            Debug.WriteLine(fieldInfos[i].GetValue(plc_StAxis));
                        }
                    }
                }
            }
        }

        //回调函数1：当设备向客户端发送数据的时候触发
        private void AdsNotificationEventOnChange(object sender, AdsNotificationEventArgs e)
        {
            //AdsBinaryReader reader = new AdsBinaryReader(e.DataStream);
            //if (e.NotificationHandle == _notificationHandleInt)
            //    Debug.WriteLine(reader.ReadInt16());
            //else if (e.NotificationHandle == _notificationHandleStruct)
            //{
            //    Debug.WriteLine(reader.ReadInt16());
            //    Debug.WriteLine(reader.ReadByte());
            //    reader.ReadByte();
            //    Debug.WriteLine(reader.ReadSingle());
            //}
        }

        //read
        private void btnRead_Click(object sender, EventArgs e)
        {
            AdsStream stream = new AdsStream(100);
            AdsBinaryReader reader = new AdsBinaryReader(stream);
            _client.Read(_handleBool,stream);//读取设备中的数据并写入到文件流stream中
            txtReadBool.Text = reader.ReadBoolean().ToString();//从当前文件流中读取Boolean值，并使当前流的位置提升1个字节

            _client.Read(_handleByte, stream);
            stream.Seek(0,System.IO.SeekOrigin.Begin);//设定流的位置为开头
            txtReadByte.Text = reader.ReadByte().ToString();//从当前文件流中读取Boolean值，并使当前流的位置提升1个字节

            _client.Read(_handleInt, stream);
            stream.Seek(0, System.IO.SeekOrigin.Begin);//设定流的位置为开头
            txtReadInt.Text = reader.ReadInt16().ToString();//从当前文件流中读取Boolean值，并使当前流的位置提升2个字节

            _client.Read(_handleArray,stream);
            stream.Seek(0, System.IO.SeekOrigin.Begin);//设定流的位置为开头
            txtReadArrayInt1.Text = reader.ReadInt16().ToString();//从当前文件流中读取Boolean值，并使当前流的位置提升2个字节
            txtReadArrayInt2.Text = reader.ReadInt16().ToString();
            txtReadArrayInt3.Text = reader.ReadInt16().ToString();
            txtReadArrayInt4.Text = reader.ReadInt16().ToString();

            _client.Read(_handleStruct,stream);
            stream.Seek(0,System.IO.SeekOrigin.Begin);
            txtReadStructInt16.Text = reader.ReadInt16().ToString();
            txtReadStructByte.Text = reader.ReadByte().ToString();
            reader.ReadByte();//前面Int16是两个字节，byte是一个字节，一共三个字节，而float是占四个字节，要从第五个字节开始读，所以要再读第四个字节，然后跳到第五个字节
            txtReadStructFloat.Text = reader.ReadSingle().ToString();

        }

        //write
        private void btnWrite_Click(object sender, EventArgs e)
        {
            try
            {
                AdsStream stream = new AdsStream(100);
                AdsBinaryWriter writer = new AdsBinaryWriter(stream);

                writer.Write(Boolean.Parse(txtWriteBool.Text));
                _client.Write(_handleBool, stream, 0, 1);

                stream.Seek(0, System.IO.SeekOrigin.Begin);//设定流的位置为开头
                writer.Write(Byte.Parse(txtWriteByte.Text));
                _client.Write(_handleByte, stream, 0, 1);

                stream.Seek(0, System.IO.SeekOrigin.Begin);//设定流的位置为开头
                writer.Write(Int16.Parse(txtWriteInt.Text));
                _client.Write(_handleInt, stream, 0, 2);

                stream.Seek(0, System.IO.SeekOrigin.Begin);//设定流的位置为开头
                writer.Write(Int16.Parse(txtWriteArrayInt1.Text));
                writer.Write(Int16.Parse(txtWriteArrayInt2.Text));
                writer.Write(Int16.Parse(txtWriteArrayInt3.Text));
                writer.Write(Int16.Parse(txtWriteArrayInt4.Text));
                _client.Write(_handleArray, stream, 0, 8);

                stream.Seek(0, System.IO.SeekOrigin.Begin);
                writer.Write(Int16.Parse(txtWriteStructInt16.Text));
                writer.Write(Byte.Parse(txtWriteStructByte.Text));
                writer.Write((Byte)0);//写入第四个字节
                writer.Write(float.Parse(txtWriteStructFloat.Text));
                _client.Write(_handleStruct, stream, 0, 8);

            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        //readany
        private void btnReadAny_Click(object sender, EventArgs e)
        {
            try
            {
                txtReadBool.Text = _client.ReadAny(_handleBool, typeof(Boolean)).ToString();
                txtReadByte.Text = _client.ReadAny(_handleByte, typeof(Byte)).ToString();
                txtReadInt.Text = _client.ReadAny(_handleInt, typeof(Int16)).ToString();
                //从设备中读取short[]
                short[] testint = (short[])_client.ReadAny(_handleArray, typeof(short[]),new int[] { 4});
                txtReadArrayInt1.Text = testint[0].ToString();
                txtReadArrayInt2.Text = testint[1].ToString();
                txtReadArrayInt3.Text = testint[2].ToString();
                txtReadArrayInt4.Text = testint[3].ToString();
                // //从设备中读取TestStruct
                TestStruct tstruct = (TestStruct)_client.ReadAny(_handleStruct, typeof(TestStruct));
                txtReadStructInt16.Text = tstruct.nData.ToString();
                txtReadStructByte.Text = tstruct.byVal.ToString();
                txtReadStructFloat.Text = tstruct.fVal.ToString();
            }
            catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }

        //writeany
        private void btnWriteAny_Click(object sender, EventArgs e)
        {
            short[] arraytest = new short[4]
            {
                short.Parse(txtWriteArrayInt1.Text),
                short.Parse(txtWriteArrayInt2.Text),
                short.Parse(txtWriteArrayInt3.Text),
                short.Parse(txtWriteArrayInt4.Text)
            };
            TestStruct tstruct = new TestStruct();
            tstruct.nData = Int16.Parse(txtWriteStructInt16.Text);
            tstruct.byVal = Byte.Parse(txtWriteStructByte.Text);
            tstruct.fVal = float.Parse(txtWriteStructFloat.Text);

            _client.WriteAny(_handleBool, Boolean.Parse(txtWriteBool.Text));//写入值到设备中
            _client.WriteAny(_handleByte, Byte.Parse(txtWriteByte.Text));//写入值到设备中
            _client.WriteAny(_handleInt, Int16.Parse(txtWriteInt.Text));//写入值到设备中
            _client.WriteAny(_handleArray, arraytest);//写入值到设备中
            _client.WriteAny(_handleStruct, tstruct);//写入值到设备中
        }
 //tryread
        private void btnTryRead_Click(object sender, EventArgs e)
        {
            int readBytes = 0;
            AdsStream stream = new AdsStream(100);
            AdsBinaryReader reader = new AdsBinaryReader(stream);
            //tryread函数如果读不出来将会返回errorcode，而不是抛出异常
            AdsErrorCode code = _client.TryRead((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleBool, stream, out readBytes);
            txtReadBool.Text = reader.ReadBoolean().ToString();

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            _client.TryRead((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleInt, stream, out readBytes);
            txtReadInt.Text = reader.ReadInt16().ToString();

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            _client.TryRead((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleByte, stream, out readBytes);
            txtReadByte.Text = reader.ReadByte().ToString();

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            _client.TryRead((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleStruct, stream, out readBytes);
            txtReadStructInt16.Text = reader.ReadInt16().ToString();
            txtReadStructByte.Text = reader.ReadByte().ToString();
            reader.ReadByte();
            txtReadStructFloat.Text = reader.ReadSingle().ToString();

            _client.TryRead((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleArray, stream, out readBytes);
            stream.Seek(0, System.IO.SeekOrigin.Begin);
            txtReadArrayInt1.Text = reader.ReadInt16().ToString();
            txtReadArrayInt2.Text = reader.ReadInt16().ToString();
            txtReadArrayInt3.Text = reader.ReadInt16().ToString();
            txtReadArrayInt4.Text = reader.ReadInt16().ToString();
        }
        //trywrite
        private void btnTryWrite_Click(object sender, EventArgs e)
        {
            AdsStream stream = new AdsStream(100);
            AdsBinaryWriter writer = new AdsBinaryWriter(stream);
            //trywrite函数如果读不出来将会返回errorcode，而不是抛出异常
            writer.Write(Boolean.Parse(txtWriteBool.Text));
            AdsErrorCode code1 = _client.TryWrite((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleBool, stream,0,1);

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            writer.Write(Byte.Parse(txtWriteByte.Text));
            AdsErrorCode code2 = _client.TryWrite((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleByte, stream, 0, 1);

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            writer.Write(Int16.Parse(txtWriteInt.Text));
            AdsErrorCode code3 = _client.TryWrite((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleInt, stream, 0, 2);

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            writer.Write(Int16.Parse(txtWriteArrayInt1.Text));
            writer.Write(Int16.Parse(txtWriteArrayInt2.Text));
            writer.Write(Int16.Parse(txtWriteArrayInt3.Text));
            writer.Write(Int16.Parse(txtWriteArrayInt4.Text));
            AdsErrorCode code4 = _client.TryWrite((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleArray, stream, 0, 8);

            stream.Seek(0, System.IO.SeekOrigin.Begin);
            writer.Write(Int16.Parse(txtWriteStructInt16.Text));
            writer.Write(Byte.Parse(txtWriteStructByte.Text));
            writer.Write((Byte)0);//写入第四个字节
            writer.Write(float.Parse(txtWriteStructFloat.Text));
            AdsErrorCode code5 = _client.TryWrite((uint)AdsReservedIndexGroups.SymbolValueByHandle, (uint)_handleStruct, stream, 0, 8);
        }

        private void btnAsyncRead_Click(object sender, EventArgs e)
        {
            //启动回调
            _notificationHandleInt = _client.AddDeviceNotificationEx("MAIN.Data_Int", AdsTransMode.OnChange, 1, 0, this, typeof(short));
            _notificationHandleStruct = _client.AddDeviceNotificationEx("MAIN.Data_Struct", AdsTransMode.OnChange, 1, 0, this, typeof(TestStruct));

        }

        private void Main_FormClosed(object sender, FormClosedEventArgs e)
        {
            if (_client != null)
            {
                _client.Disconnect();
            }
            _client.Dispose();
        }

        //利用回调的方式读取高级结构体数据
        private void btn_ReadStruct_Click_1(object sender, EventArgs e)
        {
            _notificationHandleStruct2 = _client.AddDeviceNotificationEx("GVL.stAxis", AdsTransMode.OnChange, 1, 0, this, typeof(Plc_StAxisInfo));

        }

        //写高级结构体
        private void btn_WriteStruct_Click(object sender, EventArgs e)
        {
            Plc_StAxisInfo plcStAxis = new Plc_StAxisInfo();
            plcStAxis.Axis = new Plc_StAxis[10];
            plcStAxis.Axis[0].ToDriverIO = 26;
            plcStAxis.Axis[1].ToDriverIO = 36;
            plcStAxis.Axis[2].ToDriverIO = 46;
            plcStAxis.Axis[3].ToDriverIO = 56;
            plcStAxis.Axis[4].ToDriverIO = 66;
            plcStAxis.Axis[5].ToDriverIO = 76;
            plcStAxis.Axis[6].ToDriverIO = 86;
            plcStAxis.Axis[7].ToDriverIO = 96;
            plcStAxis.Axis[8].ToDriverIO = 106;
            _client.WriteAny(_handleStruct2, plcStAxis);//写入值到设备中
        }

        //readonly方式
        private void btnReadAnyStruct_Click(object sender, EventArgs e)
        {
            Plc_StAxisInfo plcStAxis = (Plc_StAxisInfo)_client.ReadAny(_handleStruct2, typeof(Plc_StAxisInfo));
            foreach (Plc_StAxis plc_StAxis in plcStAxis.Axis)
            {
                //获取结构体中的所有字段
                FieldInfo[] fieldInfos = typeof(Plc_StAxis).GetFields();
                int FieldCount = fieldInfos.Length;
                for (int i = 0; i < FieldCount; i++)
                {
                    if (fieldInfos[i].FieldType.Name == "Byte[]")
                    {
                        byte[] b = (byte[])fieldInfos[i].GetValue(plc_StAxis);
                        foreach (var item in b)
                        {
                            Debug.WriteLine(item.ToString());
                        }
                    }
                    else if (fieldInfos[i].FieldType.Name == "Double[]")
                    {
                        double[] d = (double[])fieldInfos[i].GetValue(plc_StAxis);
                        foreach (var item in d)
                        {
                            Debug.WriteLine(item.ToString());
                        }
                    }
                    else
                    {
                        //获取字段值
                        Debug.WriteLine(fieldInfos[i].GetValue(plc_StAxis));
                    }
                }
            }
        }
    }
}

using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace AdsProject
{
    //对于一些超复杂的结构体，使用普通DataStream是很难读取的，比较方便的方式是申请一个同等大小的结构体，然后用readany读取
    //PLC-->c#:BOOL--->bool, UINT--->Uint16, DWORD--->int32,LREAL-->Double,UDINT--->Uint32,ARRAY--->数组

    [StructLayout(LayoutKind.Sequential, Pack = 8)]
    public struct Plc_StAxis
    {
        //UINT
        [MarshalAs(UnmanagedType.U2)]
        public UInt16 DriverIO;
        [MarshalAs(UnmanagedType.U2)]
        public UInt16 DriverErrorID;

        //BOOL
        [MarshalAs(UnmanagedType.I1)]
        public bool Q_Brake;
        [MarshalAs(UnmanagedType.I1)]
        public bool AxisCamDog1;
        [MarshalAs(UnmanagedType.I1)]
        public bool AxisCamDog2;
        [MarshalAs(UnmanagedType.I1)]
        public bool LimitP;
        [MarshalAs(UnmanagedType.I1)]
        public bool LimitN;
        [MarshalAs(UnmanagedType.I1)]
        public bool HOME;
        [MarshalAs(UnmanagedType.I1)]
        public bool HomingDirection;
        [MarshalAs(UnmanagedType.I1)]
        public bool EXT1;

        //DWORD
        [MarshalAs(UnmanagedType.U4)]
        public UInt32 ToDriverIO;

        //BOOL
        [MarshalAs(UnmanagedType.I1)]
        public bool ServoOn_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool ServoOnInt;
        [MarshalAs(UnmanagedType.I1)]
        public bool Homing_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool HomingInt;
        [MarshalAs(UnmanagedType.I1)]
        public bool BrakeBtn_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool Inch_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool JogF_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool JogB_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool StationIni;
        [MarshalAs(UnmanagedType.I1)]
        public bool AutoPStart_HMI;
        [MarshalAs(UnmanagedType.I1)]
        public bool StopCond;
        [MarshalAs(UnmanagedType.I1)]
        public bool ServoOn_L;
        [MarshalAs(UnmanagedType.I1)]
        public bool OriginOk_L;
        [MarshalAs(UnmanagedType.I1)]
        public bool SingleCycle;
        [MarshalAs(UnmanagedType.I1)]
        public bool Busy;

        //LREAL
        [MarshalAs(UnmanagedType.R8)]
        public double ActPos;
        [MarshalAs(UnmanagedType.R8)]
        public double AutoPosition;

        //DWORD
        [MarshalAs(UnmanagedType.U4)]
        public UInt32 Alarm1;
        //DINT
        [MarshalAs(UnmanagedType.U4)]
        public UInt32 ErrorID;

        //BOOL
        [MarshalAs(UnmanagedType.I1)]
        public bool ActionEnable;   //轴可动作
        [MarshalAs(UnmanagedType.I1)]
        public bool ActionM;   //轴手动基本条件
        [MarshalAs(UnmanagedType.I1)]
        public bool PosEnable;
        [MarshalAs(UnmanagedType.I1)]
        public bool PosEnableM;
        [MarshalAs(UnmanagedType.I1)]
        public bool BackAutoPosEN;
        [MarshalAs(UnmanagedType.I1)]
        public bool Homing;   //轴回原点
        [MarshalAs(UnmanagedType.I1)]
        public bool MotionMethod;   //轴初始化回原点
        [MarshalAs(UnmanagedType.I1)]
        public bool ServoOn_M;   //伺服ON
        [MarshalAs(UnmanagedType.I1)]
        public bool Inch_M;   //寸动
        [MarshalAs(UnmanagedType.I1)]
        public bool JogF_M;   //正向微动
        [MarshalAs(UnmanagedType.I1)]
        public bool JogB_M;   //反向微动
        [MarshalAs(UnmanagedType.I1)]
        public bool AutoPStart_M;   //轴自动停位启动
        [MarshalAs(UnmanagedType.I1)]
        public bool BrakeBtn_M;   //刹车
        [MarshalAs(UnmanagedType.I1)]
        public bool GrabSafetyPos;
        [MarshalAs(UnmanagedType.I1)]
        public bool PlacedSafetyPos;

        // //ARRAY[1..10] OF BYTE
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] PosHandStart;   //轴手动启动
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] PosHandStartM;   //轴手动启动
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] PosAutoStart;   //轴自动启动
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] PosStart_M;   //轴启动
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] Position_L;   //轴位指示
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public byte[] PosHandEnable;   //轴手动条件

        //LREAL
        [MarshalAs(UnmanagedType.R8)]
        public double VelocityTotal;  //速度汇总
        [MarshalAs(UnmanagedType.R8)]
        public double OriginCompensation;  //原点补偿
        [MarshalAs(UnmanagedType.R8)]
        public double InchingLength;  //寸动长度
        [MarshalAs(UnmanagedType.R8)]
        public double Override;  //速度倍率
        [MarshalAs(UnmanagedType.R8)]
        public double JogVelocity;  //微动速度
        [MarshalAs(UnmanagedType.R8)]
        public double VelocityManual;  //轴手动速度
        [MarshalAs(UnmanagedType.R8)]
        public double VelocityAuto;  //轴自动速度
        [MarshalAs(UnmanagedType.R8)]
        public double VelocityAutoM;  //轴自动速度M
        [MarshalAs(UnmanagedType.R8)]
        public double VelocityDebug;  //调试速度
        [MarshalAs(UnmanagedType.R8)]
        public double HomingVelocity;  //原点补偿与寸动速度
        [MarshalAs(UnmanagedType.R8)]
        public double ErrorRangeSet;  //轴误差范围设定 

        [MarshalAs(UnmanagedType.I4)]
        public Int32 AlarmCount;   //报警计数

        //ARRAY[1..10] OF LREAL
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public double[] PositionSet;

        //LREAL
        [MarshalAs(UnmanagedType.R8)]
        public double DTerminalVelocity;  //对端子速度
        [MarshalAs(UnmanagedType.R8)]
        public double TerminalvelocityManual;  //对端子手动速度
        [MarshalAs(UnmanagedType.R8)]
        public double TerminalvelocityAuto;    //对端子自动速度

    }
    //GVL中的stAxis数组
    [StructLayout(LayoutKind.Sequential, Pack = 8)]
    public struct Plc_StAxisInfo
    {
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
        public Plc_StAxis[] Axis;
    }
}

倍福plc端

StAixis代码：

(********************************************************************)
  //结构体数据说明:
  //备注：
(********************************************************************)

TYPE stAxis :
STRUCT
    DriverIO                     AT%I*:UINT; //与驱动器Digital inputs关联
    DriverErrorID                AT%I*:UINT; //与驱动器Error code关联
//    ModelOperation               AT%Q*:SINT; //操作模式与驱动器Model of operation关联
    Q_Brake                      AT%Q*:BOOL; //刹车
    AxisCamDog1                  AT%Q*:BOOL; //凸轮轴原点接近1
    AxisCamDog2                  AT%Q*:BOOL; //凸轮轴原点接近2
    LimitP                            :BOOL; //正极限
    LimitN                            :BOOL; //负极限
    HOME                              :BOOL; //原点
    HomingDirection                   :BOOL; //回原点方向
    EXT1                              :BOOL; //外部锁存
    ToDriverIO                        :DWORD;//驱动器IO数据位

    ServoOn_HMI                       :BOOL; //伺服ON按钮
    ServoOnInt                        :BOOL; //初始化伺服ON
    Homing_HMI                        :BOOL; //回原点启动
    HomingInt                         :BOOL; //初始化回原点
    BrakeBtn_HMI                      :BOOL; //刹车
    Inch_HMI                          :BOOL; //寸动
    JogF_HMI                          :BOOL; //正向微动
    JogB_HMI                          :BOOL; //反向微动
    StationIni                        :BOOL; //轴所在工位初始化中
    AutoPStart_HMI                    :BOOL; //轴自动停位启动
    StopCond                          :BOOL; //轴停止条件

    ServoOn_L                         :BOOL; //伺服ON_L
    OriginOk_L                        :BOOL; //原点OK标志
    SingleCycle                       :BOOL; //轴所在工位单循环
    Busy                              :BOOL; //轴忙
    ActPos                            :LREAL;//轴当前实际位置
    AutoPosition                      :LREAL;//轴自动停位
    Alarm                             :DWORD;  //报警:00伺服报警 01负极限异常 02正极限异常 03原点接近异常 04轴未找到原点 05轴不在自停位 06伺服驱动器异常 08轴未伺服On
    ErrorID                           :UDINT;

    ActionEnable                      :BOOL; //轴可动作
    ActionEnableM                     :BOOL; //轴可动作M
    PosEnable                         :BOOL; //轴手动基本条件
    PosEnableM                        :BOOL; //轴手动基本条件M
    BackAutoPosEN                     :BOOL; //轴可自动回自停位
    Homing                            :BOOL; //轴回原点
    MotionMethod                      :BOOL; //运动方式 0相对1绝对
    ServoOn_M                         :BOOL; //伺服ON
    Inch_M                            :BOOL; //寸动
    JogF_M                            :BOOL; //正向微动
    JogB_M                            :BOOL; //反向微动
    AutoPStart_M                      :BOOL; //轴自动停位启动
    BrakeBtn_M                        :BOOL; //刹车    

    GrabSafetyPos                     :BOOL;  //抓取安全位
    PlacedSafetyPos                   :BOOL;  //放料安全位

    PosHandStart                      :ARRAY[1..10] OF BOOL; //轴手动启动
    PosHandStartM                     :ARRAY[1..10] OF BOOL; //轴手动启动
    PosAutoStart                      :ARRAY[1..10] OF BOOL; //轴自动启动
    PosStart_M                        :ARRAY[1..10] OF BOOL; //轴启动
    Position_L                        :ARRAY[1..10] OF BOOL; //轴位指示

    PositionDone                      :BOOL; //轴动作完成

    PosHandEnable                     :ARRAY[1..10] OF BOOL; //轴手动条件

    VelocityTotal                     :LREAL;//速度汇总
//
    originCompensation                :LREAL;//原点补偿    

    InchLength                         :LREAL;//寸动长度
    Override                           :LREAL;//速度倍率
    JogVelocity                        :LREAL;//微动速度
    VelocityManual                     :LREAL;//轴手动速度
    VelocityAuto                       :LREAL;//轴自动速度
    VelocityAutoM                      :LREAL;//轴自动速度M
    VelocityDebug                      :LREAL;//调试速度
    HomeVelocity                       :LREAL;//原点补偿与寸动速度
    ErrorRangeSet                      :LREAL;//轴误差范围设定
    AlarmCount                         :DINT; //报警计数

    PositionSet                        :ARRAY[1..10] OF LREAL;//轴位置设置

    DTerminalVelocity                  :LREAL;//对端子速度
    TerminalvelocityManual             :LREAL;//对端子手动速度
    TerminalvelocityAuto               :LREAL;//对端子自动速度
END_STRUCT
END_TYPE

Struct_Data结构体代码

TYPE Struct_Data :
STRUCT
    StrData:INT:=45;
    StrByte:BYTE:=45;
    strFloat:REAL:=45.0;
END_STRUCT
END_TYPE

MAIN(PRO)代码：

PROGRAM MAIN
VAR
    Data_Cloud1: LREAL := 0;
    Data_Cloud2: LREAL := 0;
    bTestData:ARRAY[0..15] OF BOOL;
    dData2:ARRAY[0..15] OF LREAL;
    nTest:INT:=0;

    //c# test
    Data_Bool  : BOOL:=TRUE;
    Data_Byte  : BYTE:=120;
    Data_Int  : INT:=45;
    Data_Array  : ARRAY [1..4] OF INT:=[256,128,456,789];
    Data_Struct  : Struct_Data;

    nEventBool AT %MW10: BOOL;
    nEventByte AT %MW20: BYTE;

    fbMathTest:FB_Math;
END_VAR