YRCHighEthernetReadCommand 方法 |
使用自定义的命令来读取机器人指定的数据信息,每个命令返回的数据格式互不相同,需要根据手册来自定义解析的。
Use custom commands to read the data information specified by the robot.
The data format returned by each command is different from each other,
and you need to customize the analysis according to the manual.
命名空间:
HslCommunication.Robot.YASKAWA
程序集:
HslCommunication (在 HslCommunication.dll 中) 版本:12.1.2.0 (12.1.2.0)
语法 public OperateResult<byte[]> ReadCommand(
ushort command,
ushort dataAddress,
byte dataAttribute,
byte dataHandle,
byte[] dataPart
)
Public Function ReadCommand (
command As UShort,
dataAddress As UShort,
dataAttribute As Byte,
dataHandle As Byte,
dataPart As Byte()
) As OperateResult(Of Byte())
public:
OperateResult<array<unsigned char>^>^ ReadCommand(
unsigned short command,
unsigned short dataAddress,
unsigned char dataAttribute,
unsigned char dataHandle,
array<unsigned char>^ dataPart
)
member ReadCommand :
command : uint16 *
dataAddress : uint16 *
dataAttribute : byte *
dataHandle : byte *
dataPart : byte[] -> OperateResult<byte[]>
参数
- command
- 类型:SystemUInt16
命令编号,相当于CIP 通信协议的Class - dataAddress
- 类型:SystemUInt16
数据队列编号,相当于CIP 通信协议的Instance - dataAttribute
- 类型:SystemByte
单元编号,相当于CIP 通信协议的Attribute - dataHandle
- 类型:SystemByte
处理(请求), 定义数据请求方法。 - dataPart
- 类型:SystemByte
附加数据信息
返回值
类型:
OperateResultByte从机器人返回的设备数据,如果是写入状态,则 Content 为 NULL
参见