大学里面做的基于扫码枪的SRT项目，代码用于SMT32ZET6上，可作为参考，有不懂的可联系我QQ：371233387-My SRT for saomaqiang，press apologize for my poor english

倍福PLC连接4台松下Ethercat总线伺服，2轴电子齿轮同步，通过Ethernet/IP连接基恩士扫码枪。(The PLC is connected to 4 Panasonic Ethercat bus servomotor, the 2 axis electronic gear synchronously, and the Kean scan code gun is connected through Ethernet/IP.)