从 MT2-AM8 模拟量模块迁移到 Easy521 PLC（Modbus TCP）
- 读取 D700（阀后流量）、D710（阀后压力）、D720（阀前压力）， 读用功能码 03，0~32000 线性映射到各自量程（300 SLM / 400 kPa / 300 kPa） - 输出 D730（电机位置，0~10V），写用功能码 06，行程仍为 0~1000、死区 800 - 复用 MT2 骨架，保留 get_flow/get_pressure/set_motor_position 接口， channel 参数改为直接 Modbus 地址 - config.py 新增 PLC 设置，保留 MT2AM8 设置为死代码（MT2AM8Client 类保留） - 同步更新 README.md 中的硬件接线、配置默认值与模块职责描述
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+92
-191
@@ -20,9 +20,10 @@ def _motor_log(msg: str):
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except Exception:
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pass
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volthege_min = 819 # 模拟量映射最小值（对应 0V/4mA）
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volthege_max = 4095 # 模拟量映射最大值（对应 10V/20mA）
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x_max = 1000 # 最大行程
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volthege_min = 819 # 模拟量映射最小值（对应 0V/4mA）—— MT2 旧用
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volthege_max = 4095 # 模拟量映射最大值（对应 10V/20mA）—— MT2 旧用
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x_max = 1000 # 电机最大行程（PLC 沿用 0~1000 坐标，死区由 config 给定）
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raw_max = 32000 # PLC 模拟量映射最大值（0~32000，对应量程满量程）
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impulse_max = 163840 # 电机脉冲最大值（对应 x_max）
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@@ -42,49 +43,60 @@ def set_motor_limits(volthege_min_val=None, volthege_max_val=None, x_max_val=Non
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if x_max_val is not None:
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x_max = x_max_val
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# ---------- 原有的 PLC Modbus TCP 客户端类 ----------
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# ---------- PLC（Easy521）Modbus TCP 客户端 ----------
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class Easy521ModbusClient:
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# 参数来源（GUI 页面1 Modbus TCP 区）：
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# host <- PLC地址 (默认 192.168.1.88)
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# port <- 端口 (默认 502)
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# current_p_addr <- 读取压力寄存器地址 (默认 504)
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def __init__(self, host="192.168.1.88", port=502, slave_id=1, current_p_addr=504):
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"""
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信捷 Easy521 PLC 的 Modbus TCP 通讯类。
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- D 寄存器为直接 Modbus 地址：读用功能码 03（保持寄存器），写用功能码 06。
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- 模拟量映射：0~raw_max（32000）线性对应各量程满量程。
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- 电机行程仍沿用 0~x_max（1000）坐标（死区由 config 给定），映射到 0~raw_max 输出。
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对外接口沿用 MT2AM8Client 的 get_flow / get_pressure / set_motor_position，
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只是这里的 ``channel`` 参数是寄存器地址。
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"""
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def __init__(
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self,
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host="192.168.1.88",
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port=502,
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slave_id=1,
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flow_addr=700,
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flow_range=300.0,
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pressure_before_addr=720,
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pressure_before_range=300.0,
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pressure_after_addr=710,
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pressure_after_range=400.0,
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motor_output_addr=730,
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):
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self.host = host
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self.port = port
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self.slave_id = slave_id
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self.flow_addr = int(flow_addr)
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self.flow_range = float(flow_range)
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self.pressure_before_addr = int(pressure_before_addr)
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self.pressure_before_range = float(pressure_before_range)
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self.pressure_after_addr = int(pressure_after_addr)
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self.pressure_after_range = float(pressure_after_range)
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self.motor_output_addr = int(motor_output_addr)
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self.client = ModbusTcpClient(
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host=host,
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port=port,
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timeout=3,
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retries=3
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retries=3,
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)
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self.connected = False
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self.current_p_addr0 = current_p_addr
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self.current_p_addr = current_p_addr
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# self.current_p_addr = 18
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self.target_p_addr = 42
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self.u_addr = 514
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# self.u_addr = 40
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# self.output_postion = 514
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self.control_flag_addr = 100
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self.M901_ADDR = 901
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self.M902_ADDR = 902
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self.M903_ADDR = 903
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self.M904_ADDR = 904
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self.M905_ADDR = 905
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self.M906_ADDR = 906
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self.q_addr = 512
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def connect(self):
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try:
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connection = self.client.connect()
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if connection:
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print(f"成功连接到 {self.host}:{self.port}")
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conn = self.client.connect()
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if conn:
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print(f"成功连接到 PLC {self.host}:{self.port}")
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self.connected = True
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else:
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print(f"无法连接到 {self.host}:{self.port}")
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print(f"无法连接到 PLC {self.host}:{self.port}")
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self.connected = False
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return connection
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return conn
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except Exception as e:
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print(f"连接错误: {e}")
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self.connected = False
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@@ -95,181 +107,70 @@ class Easy521ModbusClient:
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self.connected = False
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print("连接已关闭")
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def read_float(self, address):
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def _read_register(self, address):
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"""读单个 16 位保持寄存器（功能码 03），返回原始整数，失败返回 None。"""
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try:
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address = int(address)
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result = self.client.read_input_registers(
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address=address,
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count=2,
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slave=self.slave_id
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result = self.client.read_holding_registers(
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address=int(address),
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count=1,
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slave=self.slave_id,
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)
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if not result.isError():
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decoder = BinaryPayloadDecoder.fromRegisters(
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result.registers,
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byteorder=Endian.BIG,
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wordorder=Endian.LITTLE
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)
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return decoder.decode_32bit_float()
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else:
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print(f"读取寄存器错误: {result}")
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return None
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return result.registers[0]
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print(f"读取寄存器 D{int(address)} 错误: {result}")
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return None
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except Exception as e:
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print(f"读取浮点数时发生错误: {e}")
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print(f"读取寄存器 D{int(address)} 异常: {e}")
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return None
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def write_float(self, address, float_value):
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def _write_register(self, address, value):
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"""写单个 16 位保持寄存器（功能码 06）。"""
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try:
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address = int(address)
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builder = BinaryPayloadBuilder(byteorder=Endian.LITTLE, wordorder=Endian.BIG)
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builder.add_32bit_float(float_value)
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payload = builder.to_registers()
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result = self.client.write_registers(
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address=address,
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values=payload,
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slave=self.slave_id
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result = self.client.write_register(
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address=int(address),
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value=int(value),
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slave=self.slave_id,
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)
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return not result.isError()
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except Exception as e:
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print(f"写入浮点数时发生错误: {e}")
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return False
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def write_coil(self, address, value):
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try:
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address = int(address)
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result = self.client.write_coil(address=address, value=value, slave=self.slave_id)
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return not result.isError()
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except Exception as e:
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print(f"写入线圈时发生错误: {e}")
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return False
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def get_current_p(self):
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return self.read_float(self.current_p_addr)
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def get_current_p0(self):
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return self.read_float(self.current_p_addr0)
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def get_target_p(self):
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return self.read_float(self.target_p_addr)
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def get_current_q(self):
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return self.read_float(self.q_addr)
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def write_u(self, float_value):
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try:
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address = int(self.u_addr)
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builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
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builder.add_32bit_float(float_value)
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payload = builder.to_registers()
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result = self.client.write_registers(
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address=address,
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values=payload,
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slave=self.slave_id
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)
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return not result.isError()
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except Exception as e:
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print(f"写入浮点数时发生错误: {e}")
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return False
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def start_control(self):
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success = self.write_coil(self.control_flag_addr, True)
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if success:
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print("成功写入控制标志位True")
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else:
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print("写入控制标志位失败")
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def stop_control(self):
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success = self.write_coil(self.control_flag_addr, False)
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if success:
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print("成功写入控制标志位False")
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else:
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print("写入控制标志位失败")
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def read_rtu_flow(self, port='COM3', slave_id=2, baudrate=9600, bytesize=8, parity='N', stopbits=1):
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client = ModbusSerialClient(
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port=port,
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baudrate=baudrate,
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bytesize=bytesize,
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parity=parity,
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stopbits=stopbits,
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timeout=3
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)
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if not client.connect():
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print(f"无法连接到串口 {port}")
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return None
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try:
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result = client.read_holding_registers(address=22, count=2, slave=slave_id)
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if result.isError():
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print(f"RTU 读取寄存器错误: {result}")
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return None
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decoder = BinaryPayloadDecoder.fromRegisters(
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result.registers,
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byteorder=Endian.BIG,
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wordorder=Endian.BIG
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)
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value = decoder.decode_32bit_uint() / 100
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return value
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print(f"写入寄存器 D{int(address)} 错误: {result}")
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return False
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return True
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except Exception as e:
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print(f"写入寄存器 D{int(address)} 异常: {e}")
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return False
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def get_flow(self, address):
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"""读阀后流量，raw / raw_max * flow_range -> SLM。"""
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raw = self._read_register(address)
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if raw is None:
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return None
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finally:
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client.close()
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return raw / raw_max * self.flow_range
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def start_up(self):
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if self.write_coil(self.M901_ADDR, True):
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print("M901 置位 TRUE")
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time.sleep(1)
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if self.write_coil(self.M901_ADDR, False):
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print("M901 复位 FALSE")
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else:
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print("警告：M901 复位失败")
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def get_pressure(self, address):
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"""读压力，按寄存器地址匹配量程（阀前 300 / 阀后 400）-> kPa。"""
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address = int(address)
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if address == self.pressure_before_addr:
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rng = self.pressure_before_range
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elif address == self.pressure_after_addr:
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rng = self.pressure_after_range
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else:
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print("警告：M901 置位失败")
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time.sleep(1)
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print(f"未知压力寄存器 D{address}，按阀后量程兜底")
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rng = self.pressure_after_range
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raw = self._read_register(address)
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if raw is None:
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return None
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return raw / raw_max * rng
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if self.write_coil(self.M902_ADDR, True):
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print("M902 置位 TRUE")
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time.sleep(1)
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if self.write_coil(self.M902_ADDR, False):
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print("M902 复位 FALSE")
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else:
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print("警告：M902 复位失败")
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else:
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print("警告：M902 置位失败")
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time.sleep(1)
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if self.write_coil(self.M905_ADDR, True):
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print("M905 (初始开度) 置位 TRUE")
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time.sleep(1)
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if self.write_coil(self.M905_ADDR, False):
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print("M905 (初始开度) 复位 FALSE")
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else:
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print("警告：M905 (初始开度) 复位失败")
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else:
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print("警告：M905 (初始开度) 置位失败")
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time.sleep(1)
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if self.write_coil(self.M903_ADDR, True):
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print("M903 置位 TRUE（持续）")
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else:
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print("警告：M903 置位失败")
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if self.write_coil(self.M904_ADDR, True):
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print("M904 置位 TRUE（持续）")
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else:
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print("警告：M904 置位失败")
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time.sleep(1)
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if self.write_coil(self.M906_ADDR, True):
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print("M906 (归零) 置位 TRUE")
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time.sleep(1)
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if self.write_coil(self.M906_ADDR, False):
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print("M906 (归零) 复位 FALSE")
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else:
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print("警告：M906 (归零) 复位失败")
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else:
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print("警告：M906 (归零) 置位失败")
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print("初始化完成，M903 和 M904 已保持为 TRUE。")
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def set_motor_position(self, position, channel=None):
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"""把 0~x_max 的行程映射到 0~raw_max 后写入电机输出寄存器。"""
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if channel is None:
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channel = self.motor_output_addr
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position = float(position)
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if not 0 <= position <= x_max:
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print(f"行程需在 0~{x_max:.0f} 之间")
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return False
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raw_value = int(position / x_max * raw_max)
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return self._write_register(channel, raw_value)
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# ---------- 新增：独立的电机 Modbus RTU 客户端类（含报文打印） ----------
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