C#和DL-EPI通信
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DL-EP1是通过Ethernet/IP通信的，较为复杂，不想折腾建议换成DL-EN1，可以直接用TCP发送M0就能获取传感器的值。
如果实在要通信就用下面的库。
https://github.com/rossmann-engineering/EEIP.NET
然后用下面代码替换掉Program.cs的内容
代码如下：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Sres.Net.EEIP;
using System.IO;
//This example demonstrates the usage of Implicit Messaging
//whith an Keyence NU-EP1 Network Unit. This is an Input Only connection.
//The 128 received bytes returns the state of the Sensors (Page 3-9 of Keyence Manual contains the assignment).
//Keyence Users Manual Page 3-6 No. 2
//此示例演示隐式消息传递的用法
//使用Keyence NU-EP1网络单元。这是一个仅输入的连接。
//接收到的128个字节返回传感器的状态（Keyence手册第3-9页包含分配）。
//Keyence用户手册第3-6页第2页
namespace Keyence_NU_RP1_Implicit
class Program
static void Main(string[] args)
//
string Path = Directory.GetCurrentDirectory();
string[] FileDataList = File.ReadAllLines(Path + "\\\\config.txt",Encoding.Default);
if (FileDataList.Length <= 0) return;
for (int i = 0; i < FileDataList.Length; ++i)
Console.WriteLine("Data" + i + ":" + FileDataList[i]);
//
EEIPClient eeipClient = new EEIPClient();
//Ip-Address of the Ethernet-IP Device (In this case Keyence-NU-EP1)
eeipClient.IPAddress = FileDataList[0];
//A Session has to be registered before any communication can be established
eeipClient.RegisterSession();
//Parameters from Originator -> Target 来自发起人->目标的参数
eeipClient.O_T_InstanceID = 0xfe; //输出程序集的实例ID
eeipClient.O_T_Length = 0;
eeipClient.O_T_RealTimeFormat = Sres.Net.EEIP.RealTimeFormat.Header32Bit; //Header Format
eeipClient.O_T_OwnerRedundant = false;
eeipClient.O_T_Priority = Sres.Net.EEIP.Priority.Low;
eeipClient.O_T_VariableLength = false;
eeipClient.O_T_ConnectionType = Sres.Net.EEIP.ConnectionType.Point_to_Point;
eeipClient.RequestedPacketRate_O_T = 500000; //RPI in 500ms is the Standard value
//Parameters from Target -> Originator 来自目标->发起人的参数
eeipClient.T_O_InstanceID = 0x64;
eeipClient.T_O_Length = 168;
eeipClient.T_O_RealTimeFormat = Sres.Net.EEIP.RealTimeFormat.Modeless;
eeipClient.T_O_OwnerRedundant = false;
eeipClient.T_O_Priority = Sres.Net.EEIP.Priority.Scheduled;
eeipClient.T_O_VariableLength = false;
eeipClient.T_O_ConnectionType = Sres.Net.EEIP.ConnectionType.Multicast;
eeipClient.RequestedPacketRate_T_O = 500000; //RPI in 500ms is the Standard value
//Forward open initiates the Implicit Messaging Forward open启动隐式消息传递
eeipClient.ForwardOpen();
while (true)
//read pw
var responze = eeipClient.GetAttributeSingle(0x0E, 0x67,1,0x325);
int PVInt = BitConverter.ToInt32(responze, 0);
//read numn point
var reaponee2 = eeipClient.GetAttributeSingle(0x4D, 0x67,1,0x325);
int point = BitConverter.ToInt16(reaponee2, 0);
//用于计算真实数值
double value = ((double)PVInt) * Math.Pow(0.1, point) ;
Console.WriteLine("测距值:" + value);
System.Threading.Thread.Sleep(500);
//Close the Session
eeipClient.ForwardClose();
eeipClient.UnRegisterSession();
然后在EIPClient.cs添加这个函数
public byte[] GetAttributeSingle(int service, int classID, int instanceID, int attributeID)
byte[] requestedPath = GetEPath(classID, instanceID, attributeID);
if (sessionHandle == 0)
//If a Session is not Registers, Try to Registers a Session with the predefined IP-Address and Port
//如果会话未注册，请尝试使用预定义的IP地址和端口注册会话
this.RegisterSession();
byte[] dataToSend = new byte[42+ requestedPath.Length];
Encapsulation encapsulation = new Encapsulation();
encapsulation.SessionHandle = sessionHandle;
encapsulation.Command = Encapsulation.CommandsEnum.SendRRData;
encapsulation.Length = (UInt16)(18 + requestedPath.Length);
//---------------Interface Handle CIP
encapsulation.CommandSpecificData.Add(0);
encapsulation.CommandSpecificData.Add(0);
encapsulation.CommandSpecificData.Add(0);
encapsulation.CommandSpecificData.Add(0);
//----------------Interface Handle CIP
//----------------Timeout
encapsulation.CommandSpecificData.Add(0);
encapsulation.CommandSpecificData.Add(0);
//----------------Timeout
//Common Packet Format (Table 2-6.1)
Encapsulation.CommonPacketFormat commonPacketFormat = new Encapsulation.CommonPacketFormat();
commonPacketFormat.ItemCount = 0x02;
commonPacketFormat.AddressItem = 0x0000; //NULL (used for UCMM Messages)
commonPacketFormat.AddressLength = 0x0000;
commonPacketFormat.DataItem = 0xB2;
commonPacketFormat.DataLength = (UInt16)(2 + requestedPath.Length);
//----------------CIP Command "Get Attribute Single"
commonPacketFormat.Data.Add((byte)service);
//commonPacketFormat.Data.Add((byte)Sres.Net.EEIP.CIPCommonServices.Get_Attribute_Single);
//----------------CIP Command "Get Attribute Single"
//----------------Requested Path size (number of 16 bit words)
commonPacketFormat.Data.Add((byte)(requestedPath.Length / 2));
//----------------Requested Path size (number of 16 bit words)
//----------------Path segment for Class ID
//----------------Path segment for Class ID
//----------------Path segment for Instance ID
//----------------Path segment for Instace ID
//----------------Path segment for Attribute ID
//----------------Path segment for Attribute ID
for (int i = 0; i < requestedPath.Length; i++)
commonPacketFormat.Data.Add(requestedPath[i]);
byte[] dataToWrite = new byte[encapsulation.toBytes().Length + commonPacketFormat.toBytes().Length];
System.Buffer.BlockCopy(encapsulation.toBytes(), 0, dataToWrite, 0, encapsulation.toBytes().Length);
System.Buffer.BlockCopy(commonPacketFormat.toBytes(), 0, dataToWrite, encapsulation.toBytes().Length, commonPacketFormat.toBytes().Length);
encapsulation.toBytes();
stream.Write(dataToWrite, 0, dataToWrite.Length);
byte[] data = new Byte[564];
Int32 bytes = stream.Read(data, 0, data.Length);
//--------------------------BEGIN Error?
if (data[42] != 0) //Exception codes see "Table B-1.1 CIP General Status Codes"
throw new CIPException(GeneralStatusCodes.GetStatusCode(data[42]));
//--------------------------END Error?
byte[] returnData = new byte[bytes - 44];
System.Buffer.BlockCopy(data, 44, returnData, 0, bytes-44);
return returnData;
最后，具体的参数设置可以根据自己的传感器去设置，我这里是IL-1000
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