GE Fanuc PLC 90-70
指令培训GEFanuc Automation Shanghai Office
1999.12
编程语言编程语言
11 。指令助记符(。指令助记符( ILIL ))
22 。。梯形图(梯形图( LDLD ))
33 。。顺序功能图(顺序功能图( SFCSFC ))
44 “。“。 C” C” 语言,“语言,“ BASIC”BASIC” 语言语言
55 。状态逻辑。状态逻辑
编程方式编程方式
手持式编程器—— HHP
LM90——DOSLM90——DOS
CC90——WindowsCC90——Windows
VersaPro——WindowsVersaPro——Windows
计算机计算机 ++ 编程软件
外部地址
GEGE PLC PLC 地址形式地址形式%%II%Q%Q%AI%AI%AQ%AQ
位地址
字地址
内部地址%%MM%G%G%T%T%R%R
中间继电器—位地址—位地址
————寄存器—字地址—字地址
地址数为自然数——例如“ %R0326”
%%P, %L, %U, %UR P, %L, %U, %UR S70 其它地址
指令分类——按形式分指令分类——按形式分
2.2. 功能块功能块
1.1. 继电器 触点 线圈——( )
Enable OK
输入参数I1
I2
I3
输入参数Q
功能功能数据类型数据类型
地址 %R
条件
长度长度
指令分类——按功能分指令分类——按功能分
1 。继电器功能功能22 。定时器。定时器 // 计数器计数器33 。算术运算功能。算术运算功能44 。关系运算功能。关系运算功能55 。位操作功能。位操作功能66 。数据传送功能。数据传送功能77 。数据表格功能。数据表格功能88 。转换功能。转换功能99 。控制功能。控制功能
Basic ProgrammingBasic Programming
Series 90-70 System CourseSeries 90-70 System Course
<+>——
——( )
——( / )
——( S )
——( R )
——<+>
——( )
——( )
继电器基本元素继电器基本元素
触点触点线圈线圈
Problem AnalysisProblem Analysis
R9
REV_PBFWD_PB
STOP_PB
R13
MTR_FWDR9
MTR_REV
L1 L2
R13
Timers and CountersTimers and Counters
Series 90-70 System CourseSeries 90-70 System Course
TMRCTRF1Shift
• Watch-Dog TimerWatch-Dog Timer
• Constant Sweep TimerConstant Sweep Timer
• Time-of-Day ClockTime-of-Day Clock
• Elapsed Time ClockElapsed Time Clock
• Time Tick ContactsTime Tick Contacts
• Watch-Dog TimerWatch-Dog Timer
• Constant Sweep TimerConstant Sweep Timer
• Time-of-Day ClockTime-of-Day Clock
• Elapsed Time ClockElapsed Time Clock
• Time Tick ContactsTime Tick Contacts
System TimersSystem Timers
定 时 器
TMRCTRofdt
1 2 3 4 5 6 7 8 9 10RELAY TMRCTRondtr ofdt tmr tmbase
MATH TABLE CONTRLTCONVRT OPN SPP
>
DATAM
dnctr
BITOP
upctr
RELAT
F2Shift
保持型延时接通定时器
R
PV CV
ONDTR
1.00s
???????
F1
延时断开定时器
PV CV
OFDT1.00s
???????
F2
延时接通定时器
PV CV
TMR1.00s
???????
F3
延时接通定时器 延时接通定时器 TimerTimer
Enable TMR
0.001S0.01S0.1S
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST PV
——( )
%R???? Address
CV
PV
Control Word
%R
%R + 1
%R + 2
延时断开定时器 延时断开定时器 TimerTimer
Enable OFDT
0.001S0.01S0.1S
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST PV
——( )
%R???? Address
CV
PV
Control Word
%R
%R + 1
%R + 2
保持定时器 保持定时器 TimerTimer
Enable ONDTR
0.001S0.01S0.1S
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST PV
——( )
%R???? Address
CV
PV
Control Word
%R
%R + 1
%R + 2
Reset R
Up Counter Down Counter
User Programmed CountersUser Programmed CountersTMRCTRofdt
F2Shift
1 2 3 4 5 6 7 8 9 10RELAY TMRCTRondtr ofdt tmr tmbase
MATH TABLE CONTRLCONVRT OPN SP
>
DATAM
dnctr
BITOP
upctr
RELAT
90464
F4 F5
R
PV CV
UPCTR
???????
R
PV CV
DNCTR
???????
计数器 计数器 CounterCounter
Enable UPCTRDNCTR
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST PV
——( )
%R???? Address
CV
PV
Control Word
%R
%R + 1
%R + 2
Reset R
Math OperationsMath Operations
Series 90-70 System CourseSeries 90-70 System Course
Shift F3
F3MATH
Shift
Math GroupMath Group
AdditionAddition
F1
1 2 3 4 5 6 7 8 9 10RELAY MATHadd sub mul more typesabs
TMRCTR TABLE CONTRLCONVRT OPN SP
>
sqrt
DATAM
mod
BITOP
div
RELAT
90417
SubtractionSubtraction
F2MultiplicationMultiplication
F3
DivisionDivision
F4
Math GroupMath Group
Modulo DivisionModulo Division
Square RootSquare Root Absolute ValueAbsolute Value
((Continued)Continued)F3
MATHShift
F5
90417
1 2 3 4 5 6 7 8 9 10RELAY MATHadd sub mul more typesabs
TMRCTR TABLE CONTRLCONVRT OPN SP
>
sqrt
DATAM
mod
BITOP
div
RELAT
F6 F7
算术运算 算术运算 (1 )(1 )Arithmetic FunctionArithmetic Function
Enable ADDSUBMULDIVMOD
INTDINTREAL
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST I2
OK
%I,%Q,%M,%T,%G 不能用于 REAL
Q
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST I1
ADD : Q = I1 + I2SUB : Q = I1 - I2MUL : Q = I1 * I2DIV : Q = I1 / I2MOD : Q =I1 -((I1/I2)*I2)
%I,%Q,%M,%T, %G,%R,%AI,%AQ
算术运算 算术运算 (2 )(2 )Arithmetic FunctionArithmetic Function
Enable SQRT
INTDINTREAL
OK
%I,%Q,%M,%T, %G,%R,%AI,%AQ
Q%I,%Q,%M,%T,%G,
%R,%AI,%AQ,CONST I1
SQRT: Q = IN
三角函数三角函数
Enable SINCOSTANASINACOSATAN
REAL
OK
%R,%AI,%AQ,CONST IN Q %R,%AI,%AQ
对数,指数功能对数,指数功能
Enable LOGLNEXP
REAL
OK
%R,%AI,%AQ,CONST IN Q %R,%AI,%AQ
Q = e Ii
Q = ln(IN)
Q = log(IN)
指数功能指数功能
Enable LOGLNEXP
REAL
OK
%R,%AI,%AQ,CONST I2
Q %R,%AI,%AQ
%R,%AI,%AQ,CONST I1
EXP: Q = I 1I2
Data OperationsData Operations
Series 90-70 System CourseSeries 90-70 System Course
CONVRTShift F8
F8CONVRT
Shift
Convert GroupConvert Group
Convert GroupConvert GroupConvert GroupConvert Group((Continued)Continued)
DESTINATIONDATA TYPES
F3
F1
F2
= MORE IN??????? ???????Q
UINT_TO_INT
BCD-4
F4
F5
F6
F7
F8
F9
BCD-8
UINT
INT
DINT
REAL
INT
DINT
Convert GroupConvert GroupConvert GroupConvert Group
STARTINGDATA TYPES
F2
F10
F3
F4
F5
F6
F7
F8
F1
F9F1
F2
F3
types =
= BIT
= BYTE
= WORD
= DWORD
= UINT
= INT
= DINT
= REAL
= MORE= BCD-4
= BCD-8
= MIXED
((Continued)Continued)
IN??????? ???????Q
UINT_TO_INT
Convert GroupConvert GroupConvert GroupConvert Group
End Data Type
Start Data Type
BIT
BYTE
WORD
DWORD
UINT
INT
DINT
REAL
BCD-4
BCD-8
Mixed
BCD-4 BCD-8 UINT INT DINT REAL INT DINT
((Continued)Continued)
数据转换 数据转换 (1)(1)
Enable
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST
INT
TOBCD4
IN
OK
%I,%Q,%M,%T,%G,%R,%AI,%AQ
Q
数据转换 数据转换 (2)(2)
Enable
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST
BCD4
TOINT
IN
OK
%I,%Q,%M,%T,%G,%R,%AI,%AQ
Q
数据转换 数据转换 (3)(3)
Enable
%R,%AI,%AQ,CONST
INTDINT
WORDIN
OK
%I,%Q,%M,%T,%G,%R,%AI,%AQ
Q
REAL
TO
数据转换 数据转换 (4)(4)
Enable
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST
INTDINTBCD4
WORD
IN
OK
%R,%AI,%AQQ
TOREAL
数据转换 数据转换 (5)(5)
Enable
%R,%AI,%AQ,CONST
REAL_TRUN_
INTDINT
IN
OK
%I,%Q,%M,%T,%G,%R,%AI,%AQ
Q
RelationalRelational OperationsRelationalRelational Operations
Series 90-70 System CourseSeries 90-70 System Course
RELATNShift F4
F4RELATN
Greater Than or Equal ToGreater Than or Equal To
Shift
Relational GroupRelational GroupRelational GroupRelational Group
EqualEqual
F1
Not Equal Not Equal
F2Greater Than Greater Than
F3
F4
Relational GroupRelational GroupRelational GroupRelational Group
Range
F4RELATN
Shift
Less Than or Equal To
F6Less Than
F5
Compare
F7
F8
((Continued)Continued)
比较功能 比较功能 (1 ) (1 ) Comparison FunctionComparison Function
Enable EQNEGTGELTLE
INTDINTREAL
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST I2
Q
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST I1
——( )
比较功能 比较功能 (2 ) (2 ) Comparison FunctionComparison Function
EnableRANGE
INTDINTREAL
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST IN
Q
%I,%Q,%M,%T,%G,%R,%AI,%AQ,CONST L1
——( )%I,%Q,%M,%T,%G,
%R,%AI,%AQ,CONST L2
Data Move OperationsData Move Operations
Series 90-70 System CourseSeries 90-70 System Course
DATAMVF6Shift
Move GroupMove Group
F6 DATAMVShift
RELAY
move
TMRCTR
blkmov
MATH
blkclr
RELATN
shfreq
BITOP
bitseq
TABLE
comreq
CONVRT CONTRL
more
OPN SP
types
Move GroupMove Group
F2
F1
Block MoveBlock Move
Block ClearBlock Clear
F3
MoveMoveF4
Shift RegisterShift Register
数据传送 数据传送 Data MoveData Move
Enable
%I,%Q,%M,%T,%SA,%SB,%SC,%G,%R,%AI,%AQ,CONST
MOVEINTBITWORDREAL
LEN1 - 256IN
OK
%I,%Q,%M,%T,%SA,%SB,%SC,%G,%R,%AI,%AQ
Q
常数块传送 常数块传送 Block MoveBlock Move
Enable
CONST
BLKMV
INTWORDREAL
IN1
IN2
IN3
IN4
IN5
IN6
IN7
OK
%I,%Q,%M,%T,%SA,%SB,%SC,%G,%R,%AI,%AQ
Q
块清零块清零 Block ClearBlock Clear
Enable
%I,%Q,%M,%T,%SA,%SB,%SC,
%G,%R,%AI,%AQ
BLKCLRWORD
LEN1 - 256IN
OK
Table OperationsTable Operations
Series 90-70 System CourseSeries 90-70 System Course
TABLESF7Shift
Array OperationArray OperationTABLESF7Shift
ArrayArray
F8
???????
???????
???????
ARRAY_MOVE_WORDSR DS
SNX
DNX
N
LEN00001
???????
???????
Array Search OperationArray Search Operation
more
CONTRLF9
Search EqualSearch Equal
F1
???????
???????
???????
SRCH_EQ_WORDAR FD
NX NX
IN
LEN00001
???????
Search Not EqualSearch Not Equal
F2
???????
???????
???????
SRCH_NE_WORDAR FD
NX NX
IN
LEN00001
???????
Search Greater ThanSearch Greater Than
F3
???????
???????
???????
SRCH_GT_WORDAR FD
NX NX
IN
LEN00001
???????
Array Search OperationArray Search Operation
more
CONTRLF9
Search Greater Than or EqualSearch Greater Than or Equal
F4
???????
???????
???????
SRCH_GE_WORDAR FD
NX NX
IN
LEN00001
???????
Search Less ThanSearch Less Than
F5
???????
???????
???????
SRCH_LT_WORDAR FD
NX NX
IN
LEN00001
???????
Search Less Than or EqualSearch Less Than or Equal
F6
???????
???????
???????
SRCH_LE_WORDAR FD
NX NX
IN
LEN00001
???????
数组变址传送 数组变址传送 Array MoveArray Move
Enable ARRAYMOVE_
INTDINTBITBYTEWORD
%I,%Q,%M,%T,%G,R,%AI,%AQ,CONST
OK
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
DS
SNX
SR
DNX
N
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
LEN
将 (SR+SNX-1) 送到 (SR+SNX-1)
表格搜索表格搜索
Enable SRCHEQ_
INTDINTBYTEWORD
%I,%Q,%M,%T,%G,R,%AI,%AQ,CONST
OK
%I,%Q,%M,%T,%G,%R,%AI,%AQ
FS
NX
AR
IN
%I,%Q,%M,%T,%G,%R,%AI,%AQNX
LEN
0—(LEN-1)
1—LEN
——( )
SRCH_NE
SRCH_GT
SRCH_GE
SRCH_LT
SRCH_LE
SRCH_NE
SRCH_GT
SRCH_GE
SRCH_LT
SRCH_LE
被查数
Bit OperationsBit Operations
Series 90-70 System CourseSeries 90-70 System Course
BITOPF5Shift
Multiple Bit FunctionsMultiple Bit Functions
F1
AndAnd
XorXor
NotNot
??????????????
???????
F2
OrOr
??????????????
???????
OR_
F3
??????????????
???????
XOR_
F4
??????????????
???????
NOT_
BITOPF5Shift
字逻辑功能 字逻辑功能 (1) (1) Logic FunctionLogic Function
Enable ANDORXOR
WORD
%I,%Q,%M,%T,%G,%SA,%SB%SC,%R,
%AI,%AQ,CONST
I2
OK
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
Q
I1
AND : Q = I1 * I2OR : Q = I1 + I2XOR : Q = I1 I2
字逻辑功能 字逻辑功能 (2) (2) Logic FunctionLogic Function
Enable NOT
WORD
%I,%Q,%M,%T,%G,%S,%SA,
%SB%SC,%R,%AI,%AQ,CONST
OK
%I,%Q,%M,%T,%G,%S,%SA,%SB,%SC,%R,%AI,%AQ
QI1
NOT : Q = I1
Bit FunctionsBit FunctionsF9 more
F1
Bit TestBit Test
??????????????
???????
BIT_TEST_WORDIN Q
BIT
F2
Bit SetBit Set
??????????????
???????
BIT_SET_WORDIN
BIT
F3
Bit ClearBit Clear
??????????????
???????
BIT_CLR_WORDIN
BIT F4
Bit PositionBit Position
??????????????
???????
BIT_POS_WORDIN Q
POS
字逻辑功能 字逻辑功能 (3) (3) Logic FunctionLogic Function
Enable BIT_SETBIT_CLR
WORD
%I,%Q,%M,%T,%G,%SA,%SB,%SC,
%R,%AI,%AQ,CONST for BIT
BIT
OK
IN
LEN1 - 256
字逻辑功能 字逻辑功能 (4) (4) Logic FunctionLogic Function
Enable BIT
TEST
WORD
%I,%Q,%M,%T,%G,%S,%SA,%SB,
%SC,%R,%AI,%AQ,CONST for BIT
BIT
OK
IN
LEN1 - 256
Tested BIT state
Q ——( )
字逻辑功能 字逻辑功能 (5) (5) Logic FunctionLogic Function
Enable BIT
POS
WORD
%I,%Q,%M,%T,%G,%SA,%SB,%SC,
%R,%AI,%AQ,
OK
INLEN1 - 256
POS%I,%Q,%M,%T,%
G,%%R,%AI,%AQ,
ContinuedContinued
Multiple Bit FunctionsMultiple Bit Functions
BITOPF5Shift
Shift LeftShift Left
F5
???????
???????
???????
SHLSHLMSBMSB LSBLSB B1B1B2B2
Shift RightShift Right
F6
???????
???????
???????
SHRSHRMSBMSB LSBLSB B1B1B2B2
SHR_
移位 移位 ShiftShift
Enable SHRSHL
WORD%I,%Q,%M,%T,
%G,%SA,%SB%SC,%R,%AI,%AQ,
B1
OK
B2
N
IN
B1 B2IN, Q
LEN1 - 256
%I,%Q,%M,%T,%G,%SA,%SB%SC,
%R,%AI,%AQ,CONST
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
Q
B2 B1
LSBMSBSHR
SHL
——( )——( )
ContinuedContinued
Multiple Bit FunctionsMultiple Bit Functions
BITOPF5Shift
Rotate LeftRotate Left
F7
???????
???????
ROL_
Q
ROLROLMSBMSB LSBLSB
Rotate RightRotate Right
F8
???????
???????
ROR_
Q
RORRORMSBMSB LSBLSB
旋转 旋转 RotatRotat
Enable ROLROR
WORD%I,%Q,%M,%T,
%G,%SA,%SB%SC,%R,%AI,%AQ,
OK
N
IN
LEN1 - 256
%I,%Q,%M,%T,%G,%SA,%SB%SC,
%R,%AI,%AQ,CONST
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
Q
LSBMSB
SHR
SHL
移位寄存器 移位寄存器 Shift RegisterShift Register
Enable SHFR
BITWORD
%I,%Q,%M,%T,%G,%SA,%SB%SC,
%R,%AI,%AQ,
ST
OK
%I,%Q,%M,%T,%G,%SA,%SB,%SC,%R,%AI,%AQ
Q
IN
Reset R
Q IN
LSBMSB ST
LEN1 - 256
定序器 定序器 Bit SequencerBit Sequencer
Enable BITSEQ
%I,%Q,%M,%T,%G,%SA,%SB%SC,
%R,%AI,%AQ, ST
OK
STEP
Reset R
LEN1 - 256
0—L1—R DIR
CV
PV
Control Word
%R
%R + 1
%R + 2
IOIO 立即刷新立即刷新
Enable DO IO
%I,%Q,%M,%T,%G%R,%AI,%AQ, ALT
OK
END
ST
%I,%Q,%AI,%AQ,
若没有 ALT 则刷新真实地址
DOIO 不能刷新 Genius 网上 I/O 地址
CALL ???????子程序调用子程序调用
[ START OF PROGRAM SUB ]
——( )
[ ][ END OF BLOCK LOGIC]
[ START OF PROGRAM MAIN ]
——( )
[ ]CALL SUB
[ END OF PROGRAM LOGIC]
最多可定义 255 个子程序
子程序调用子程序调用
CALL A
CALL B
CALL C
CALL B
开始BLOCK A
BLOCK C
BLOCK B
MAINBLOCK D
最多可 8级子程序嵌套
•每个程序块可有 64 个“ CALL”
主控指令主控指令 MCRMCR 和跳转指令和跳转指令 JUMPJUMP
[ MCR ]
——( )
[ END_MCR]
[ ]
[ MCR ]
>> DOG
——( )
DOG:
[ ]
>> DOG
通讯请求命令通讯请求命令
Enable COMM_REQ
%I,%Q,%M,%T,%G,%R,%AI,%AQ, 常数
TASK
OK
SYSID
IN
%R,%AI,%AQ, 常数
%R,%AI,%AQ FT ——( )
服务请求 服务请求 Servic RequestServic Request
Enable SVCREQ
%I,%Q,%M,%T,%G,%R,%AI,%AQ,
CONST for FNC
PARM
OK
FNC
功能码 说明
7 改变 / 读取日期时钟
14 故障表清零
15 读取最后登录的故障记录
16 读取开机耗时时间
18 读取 I/O 强制状态
29 读取关机耗时时间
26/30 询问 I/O 状态
服务请求功能 服务请求功能 Servic RequestServic Request
服务请求 服务请求 Servic RequestServic Request
%R0010
SVCREQ
PARM
FNC7
%R0010
%R0011
%R0012
%R0014
%R0013
%R0015
0— 读取
1—BCD
月
秒
时
空
1— 设置
年
分
日
周
——改变 / 读取日期时钟
服务请求 服务请求 Servic RequestServic Request
%R0020
SVCREQ
PARM
FNC14
——清除故障表
0 —— 清除 PLC 故障表
1—— 清除 I/O 故障表
PID PID 调节回路调节回路Enable PID
IND%I,%Q,%M,%T,
%G%R,%AI,%AQ,CONST for SP
UP
OK
MAN
SP
PV
%R???? 40 个 R 寄存器
DN
CV %I,%Q,%M,%T,%G%R,%AI,%AQ,
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