ge fanuc plc 90-70 指令培训

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 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 Analysis

R9

REV_PBFWD_PB

STOP_PB

R13

MTR_FWDR9

MTR_REV

L1 L2

R13

Timers and Counters

Series 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

System Timers

定 时 器TMRCTRofdt

1 2 3 4 5 6 7 8 9 10RELAY TMRCTRondtr ofdt tmr tmbase

MATH TABLE CONTRLTCONVRT OPN SPP

>

DATAMdnctrBITOP

upctrRELAT

F2Shift

保持型延时接通定时器

R

PV CV

ONDTR1.00s

???????

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 CountersTMRCTRofdt

F2Shift

1 2 3 4 5 6 7 8 9 10RELAY TMRCTRondtr ofdt tmr tmbase

MATH TABLE CONTRLCONVRT OPN SP

>

DATAMdnctrBITOP

upctrRELAT

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 Operations

Series 90-70 System Course

Shift F3

F3MATH

Shift

Math Group

Addition

F1

1 2 3 4 5 6 7 8 9 10RELAY MATHadd sub mul more typesabs

TMRCTR TABLE CONTRLCONVRT OPN SP

>sqrtDATAM

modBITOP

divRELAT

90417

Subtraction

F2Multiplication

F3

Division

F4

Math Group

Modulo Division

Square Root Absolute 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

>sqrtDATAM

modBITOP

divRELAT

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 SIN

COSTANASINACOSATAN

REAL

OK

%R,%AI,%AQ,CONST IN Q %R,%AI,%AQ

对数，指数功能对数，指数功能Enable LOG

LNEXPREAL

OK

%R,%AI,%AQ,CONST IN Q %R,%AI,%AQ

Q = e IiQ = ln(IN)Q = log(IN)

指数功能指数功能Enable LOG

LNEXPREAL

OK

%R,%AI,%AQ,CONST I2

Q %R,%AI,%AQ

%R,%AI,%AQ,CONST I1

EXP: Q = I 1I2

Data Operations

Series 90-70 System Course

CONVRTShift F8

F8 CONVRTShift

Convert GroupConvert Group

Convert 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 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 Group

End Data Type

Start Data TypeBITBYTE

WORD

DWORDUINTINT

DINT

REALBCD-4BCD-8Mixed

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,%AQQ

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,%AQQ

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,%AQQ

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,%AQQ

RelationalRelational Operations

Series 90-70 System Course

RELATNShift F4

F4RELATN

Greater Than or Equal To

Shift

Relational GroupRelational Group

Equal

F1

Not Equal

F2Greater Than

F3

F4

Relational 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 GroupF6 DATAMVShift

RELAY

move

TMRCTR

blkmov

MATH

blkclr

RELATN

shfreq

BITOP

bitseq

TABLE

comreq

CONVRT CONTRL

more

OPN SP

types

Move Group

F2

F1

Block Move

Block Clear

F3

MoveF4

Shift 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

BLKMVINTWORDREAL

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 Operations

Series 90-70 System Course

TABLESF7Shift

Array OperationTABLESF7Shift

Array

F8

???????

???????

???????

ARRAY_MOVE_WORDSR DS

SNX

DNX

N

LEN00001

???????

???????

Array Search Operation

moreCONTRL

F9

Search Equal

F1

???????

???????

???????

SRCH_EQ_WORDAR FD

NX NX

IN

LEN00001

???????

Search Not Equal

F2

???????

???????

???????

SRCH_NE_WORDAR FD

NX NX

IN

LEN00001

???????

Search Greater Than

F3

???????

???????

???????

SRCH_GT_WORDAR FD

NX NX

IN

LEN00001

???????

Array Search OperationmoreCONTRL

F9

Search Greater Than or Equal

F4

???????

???????

???????

SRCH_GE_WORDAR FD

NX NX

IN

LEN00001

???????

Search Less Than

F5

???????

???????

???????

SRCH_LT_WORDAR FD

NX NX

IN

LEN00001

???????

Search 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

被查数

Bit Operations

Series 90-70 System Course

BITOPF5Shift

Multiple Bit Functions

F1

And

Xor

Not

??????????????

???????

F2

Or

??????????????

???????

OR_

F3

??????????????

???????

XOR_

F4

??????????????

???????

NOT_

BITOPF5Shift

字逻辑功能 字逻辑功能 (1) (1) Logic FunctionLogic Function

Enable ANDORXORWORD

%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 FunctionsF9 more

F1

Bit Test

??????????????

???????

BIT_TEST_WORDIN Q

BIT

F2

Bit Set

??????????????

???????

BIT_SET_WORDIN

BIT

F3

Bit Clear

??????????????

???????

BIT_CLR_WORDIN

BIT F4

Bit 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 BITTESTWORD

%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 BITPOSWORD

%I,%Q,%M,%T,%G,%SA,%SB,%SC,

%R,%AI,%AQ,

OK

INLEN1 - 256

POS%I,%Q,%M,%T,%

G,%%R,%AI,%AQ,

ContinuedMultiple Bit FunctionsBITOPF5Shift

Shift Left

F5

???????

???????

???????

SHLMSB LSB B1B2

Shift Right

F6

???????

???????

???????

SHRMSB LSB B1B2

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

——( )

ContinuedMultiple Bit FunctionsBITOPF5Shift

Rotate Left

F7

???????

???????

ROL_

Q

ROLMSB LSB

Rotate Right

F8

???????

???????

ROR_

Q

RORMSB LSB

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,