Download - GE Fanuc PLC 90-70 指令培训
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GE Fanuc PLC 90-70
指令培训GEFanuc Automation Shanghai Office
1999.12
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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
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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
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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
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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
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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
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Basic ProgrammingBasic Programming
Series 90-70 System Course
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<+>——
——( )
——( / )
——( S )
——( R )
——<+>
——( )
——( )
继电器基本元素继电器基本元素
触点触点 线圈线圈
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Problem Analysis
R9
REV_PBFWD_PB
STOP_PB
R13
MTR_FWDR9
MTR_REV
L1 L2
R13
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Timers and Counters
Series 90-70 System Course
TMRCTRF1Shift
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• 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
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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
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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
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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
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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
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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
???????
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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
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Math Operations
Series 90-70 System Course
Shift F3
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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
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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
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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
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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
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三角函数三角函数Enable SIN
COSTANASINACOSATAN
REAL
OK
%R,%AI,%AQ,CONST IN Q %R,%AI,%AQ
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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)
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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
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Data Operations
Series 90-70 System Course
CONVRTShift F8
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F8 CONVRTShift
Convert GroupConvert Group
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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
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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
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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)
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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
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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
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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
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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
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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
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RelationalRelational Operations
Series 90-70 System Course
RELATNShift F4
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F4RELATN
Greater Than or Equal To
Shift
Relational GroupRelational Group
Equal
F1
Not Equal
F2Greater Than
F3
F4
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Relational GroupRelational Group
Range
F4RELATN
Shift
Less Than or Equal To
F6Less Than
F5
Compare
F7
F8
((Continued)Continued)
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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
——( )
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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
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Data Move OperationsData Move Operations
Series 90-70 System CourseSeries 90-70 System Course
DATAMVF6Shift
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Move GroupF6 DATAMVShift
RELAY
move
TMRCTR
blkmov
MATH
blkclr
RELATN
shfreq
BITOP
bitseq
TABLE
comreq
CONVRT CONTRL
more
OPN SP
types
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Move Group
F2
F1
Block Move
Block Clear
F3
MoveF4
Shift Register
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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
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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
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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
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Table Operations
Series 90-70 System Course
TABLESF7Shift
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Array OperationTABLESF7Shift
Array
F8
???????
???????
???????
ARRAY_MOVE_WORDSR DS
SNX
DNX
N
LEN00001
???????
???????
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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
???????
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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
???????
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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)
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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
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Bit Operations
Series 90-70 System Course
BITOPF5Shift
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Multiple Bit Functions
F1
And
Xor
Not
??????????????
???????
F2
Or
??????????????
???????
OR_
F3
??????????????
???????
XOR_
F4
??????????????
???????
NOT_
BITOPF5Shift
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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
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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
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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
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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
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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 ——( )
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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,
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ContinuedMultiple Bit FunctionsBITOPF5Shift
Shift Left
F5
???????
???????
???????
SHLMSB LSB B1B2
Shift Right
F6
???????
???????
???????
SHRMSB LSB B1B2
SHR_
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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
——( )
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ContinuedMultiple Bit FunctionsBITOPF5Shift
Rotate Left
F7
???????
???????
ROL_
Q
ROLMSB LSB
Rotate Right
F8
???????
???????
ROR_
Q
RORMSB LSB
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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
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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
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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
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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
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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
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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”
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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
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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 ——( )
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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
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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
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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
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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
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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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