CS1 Automation & Drives.

Presentatie over: "CS1 Automation & Drives."— Transcript van de presentatie:

1 CS1 Automation & Drives

2 CS1 Hardware

3 Inhoud CPU range CPU componenten Geheugen gebieden CPU Racks
Expansion Racks (CS1 & C200H) Voedingen I/O Modules I/O Allocatie Instructie Set

4 CS1 CPU Range 9 verschillende types CPU’s

5 De CPU CPU slot voor inner board CPU status indicators
The peripheral poort wordt gebruikt Programmeer apparatuur, zoals een handprogrammeer apparaat of een PC met programmeerpakket. Memory Card status en instellingen. Contoleer eerst of Busy en MCPWR uit zijn voordat men de Memory Card verwijdert RS232 Poort, voor het verbinden van NT/NS Terminals, externe apparatuur. Memory Card Slot. Memory Card

6 Geheugen gebieden

7 Geheugen gebieden

8 Geheugen gebieden

9 CPU Backplanes CS1 CPU backplanes verschillen net als C200H CPU backplanes van expansion backplanes. CS1 backplanes hebben een dubbele BUS architectuur, een C200H I/O bus en een PC21 bus (een high speed bus speciaal voor CS1) Ieder slot heeft 2 connectors, C200H en PC21 C200H units kunnen gebruikt worden op CS1 racks.

10 Beschikbare CPU Backplanes
CS1W-BC023 2 slots (geen verbinding mogelijk naar expansion backplane) CS1W-BC033 3 slots CS1W-BC053 5 slots CS1W-BC083 8 slots CS1W-BC slots

11 Expansion racks Een expansion rack bestaat uit een expansion backplane, een voeding en een verbindingskabel. Expanision Backplanes gebruiken dezelfde voeding als CPU-Backplanes. Beschikbare expansion backplanes CS1W-BI033 3 slots CS1W-BI053 5 slots CS1W-BI083 8 slots CS1W-BI slots C200H-Backplanes

12 Configuratie met CS1 racks
Uitbreiding met alleen CS1 racks Maximaal 7 expansion racks op een CPU rack. Maximaal 80 I/O slots CPU CS1G-CPU42H,43H maximaal 2 expansion racks; CS1G-CPU44H maximaal 3 expansion racks. Maximale toelaatbare afstand tussen de CPU en het laatse rack is 12 meter.

13 Configuratie met C200H racks
Upgrade van een C200H systeem door alleen het CPU rack te vervangen. Maximum configuratie is 3 C200HW-BIxx1 of C200H-BCxxx1-V2 expansion racks. Maximum 40 I/O slots. CPU CS1G-CPU42H,43H maximaal 2 expansion racks. Na een C200H rack kan er geen CS1 rack meer geplaatst worden.

14 CS1 series gebruiken dezelfde voedingen als de alpha series.
C200HW-PA tot 120 VAC of 200 tot 240 VAC, 4.6 A, 5 VCD C200HW-PA204S 100 tot 120 VAC of 200 tot 240 VAC (0.8 A 24 VDC service power), 4.6A, 5 VDC C200HW-PA204R 100 tot 120 VAC of 200 tot 240 VAC (met RUN output), 4.6 A, 5 VDC C200HW-PD VDC, 4.6 A, 5 VDC C200HW-PA209R 100 tot 120 VAC of 200 tot 240 VAC (met RUN output), 9 A, 5 VDC

15 I/O modules De CS1 I/O kan opgedeeld worden in 3 Groepen: Basis I/O
Special I/O (C200H/CS1) CS1 CPU Bus Units

16 Basis I/O Standaard Ingangs en Uitgangsmodules CS1 incl. High Density kaarten Mix I/O modules CS1 Ingangs en Uitgangsmodules C200H Groep 2 C200H High Density I/O modules

17 Special I/O CS1 special I/O. analoge units, MC units, CT units. Maximaal 96 unit # settings, echter max. 80 I/O slots beschikbaar. C200H special I/O; analoge units, MC units, CT units, FieldBus Master and slaves. C200H Special I/O units can only occupy the first 16 unit numbers Elke special I/O module krijgt 10 CIO woorden en 100 DM woorden toegewezen. CIO voor Special I/O start vanaf CIO 2000 DM voor Special I/O start vanaf DM20000

18 CS1 CPU Bus Units Deze groep bevat alle seriele communicatie units en FA netwerk units CS1W-SCU21, Serial Communications Unit, 2 RS232 poorten, maximaal 16 Units CS1W-DRM21, Devicenet Master of Slave Unit, maximaal 4 Units CS1W-PRM21, Profibus Master, maximaal 4 Units CS1W-CLK11/12/21/52, Controller link Unit, maximaal 4 Units CS1W-SLK11/21, Sysmac Link Unit, maximaal 4 Units CS1W-ETN01/11/21, Ethernet Unit, maximaal 4 Units

19 I/O Allocatie Basis I/O allocatie
Special I/O en CPU Bus Unit allocatie Rack Start Address Word Reservation I/O Table

20 I/O Allocatie CPU Rack De adressering in de PLC is opeenvolgend.
De eerste Basic I/O Unit (de meest links Unit op het CPU rack) krijgt adres 0000 als er geen start adres is ingesteld. Ieder Rack kan een start adres krijgen. Het adres voor de eerste module op het rack krijgt dan dit startadres. SIO en CPU Bus Units worden als lege slots gezien.

21 I/O Allocatie Expansion Rack
Allocatie voor CS1 & C200H Expansion I/O Racks. Zonder start address, I/O allocatie opeenvolgend vanaf het CPU rack.

22 I/O Allocatie Rack Start Adress
Voor elk rack, kan er een start adres ingesteld worden. Start adressen kunnen willekeurig gekozen. Rack 1 mag een groter start adres hebben dan Rack 2. Addressen mogen niet overlappen

23 I/O Allocatie Rack Woorden reserveren
Toevoegen of verwijderen van modules zorgt ervoor dat de adressen rechts ervan veranderen. Voor elk slot kunnen 1, 2, 3, 4, 6 of 8 woorden gereserveerd worden. Reserveren van woorden voor het toevoegen of verwijderen van Units met I/O table editor. Woorden gereserveerd in de I/O table.

24 Special I/O (allocatie details)

25 CS1 CPU Bus Units (allocatie details)
25 woorden van het CIO gebied, vanaf CIO1500 en 100 woorden van het DM gebied vanaf DM30000 worden aan elke CPU Bus Unit toegewezen.

26 I/O Allocatie oefening
Vul de tabel in met CIO and DM channels (CPU rack start adres = 0).

27 I/O Allocatie oefening

28 Groepsindeling Instructies
Sequence Input Instructions Sequence Output Instructions Sequence Control Instructions Timer and Counter Instructions Comparison Instructions Data Movement Instructions Data Shift Instructions Increment/Decrement Instructions Symbol Math Instructions Conversion Instructions Logic Instructions Special Math Instructions Floating-point Math Instructions Double-precision Floating-point Instructions Table Data Processing Instructions Data Control Instructions

29 Instructie Overzicht Sequence Input Instructions LOAD: LD
LOAD NOT: LD NOT AND: AND AND NOT: AND NOT OR: OR OR NOT: OR NOT AND LOAD: AND LD OR LOAD: OR LD Differentiated and Immediate Refreshing Instructions NOT: NOT(520) CONDITION ON/OFF: UP(521) and DOWN(522) BIT TEST: TST(350) and TSTN(351)

30 Sequence Output Instructions
OUTPUT: OUT OUTPUT NOT: OUT NOT KEEP: KEEP(011) DIFFERENTIATE UP/DOWN: DIFU(013) and DIFD(014) SET and RESET: SET and RSET MULTIPLE BIT SET/RESET: SETA(530)/RSTA(531) SINGLE BIT SET/RESET: SETB(532)/RSTB(533) (CS1-H/CJ1-H/CJ1M Only) SINGLE BIT OUTPUT: OUTB(534) (CS1-H/CJ1-H/CJ1M Only) Sequence Control Instructions END: END(001) NO OPERATION: NOP(000) INTERLOCK and INTERLOCK CLEAR: IL(002) and ILC(003) JUMP and JUMP END: JMP(004) and JME(005) CONDITIONAL JUMP: CJP(510)/CJPN(511) MULTIPLE JUMP and JUMP END: JMP0(515) and JME0(516) FOR-NEXT LOOPS: FOR(512)/NEXT(513) BREAK LOOP: BREAK(514)

31 Timer and Counter Instructions
TIMER: TIM/TIMX(550) HIGH-SPEED TIMER: TIMH(015)/TIMHX(551) ONE-MS TIMER: TMHH(540)/TMHHX(552) ACCUMULATIVE TIMER: TTIM(087)/TTIMX(555) LONG TIMER: TIML(542)/TIMLX(553) MULTI-OUTPUT TIMER: MTIM(543)/MTIMX(554) COUNTER: CNT/CNTX(546) REVERSIBLE COUNTER: CNTR(012)/CNTRX(548) RESET TIMER/COUNTER: CNR(545)/CNRX(547) Comparison Instructions Input Comparison Instructions (300 to 328) COMPARE: CMP(020) DOUBLE COMPARE: CMPL(060) SIGNED BINARY COMPARE: CPS(114) DOUBLE SIGNED BINARY COMPARE: CPSL(115) MULTIPLE COMPARE: MCMP(019) TABLE COMPARE: TCMP(085) BLOCK COMPARE: BCMP(068) EXPANDED BLOCK COMPARE: BCMP2(502) (CJ1M Only) 10 AREA RANGE COMPARE: ZCP(088) (CS1-H/CJ1-H/CJ1M Only) 11 DOUBLE AREA RANGE COMPARE: ZCPL(116) (CS1-H/CJ1-H/CJ1M Only)

32 Data Movement Instructions
MOVE: MOV(021) MOVE NOT: MVN(022) DOUBLE MOVE: MOVL(498) DOUBLE MOVE NOT: MVNL(499) MOVE BIT: MOVB(082) MOVE DIGIT: MOVD(083) MULTIPLE BIT TRANSFER: XFRB(062) BLOCK TRANSFER: XFER(070) BLOCK SET: BSET(071) DATA EXCHANGE: XCHG(073) DOUBLE DATA EXCHANGE: XCGL(562) SINGLE WORD DISTRIBUTE: DIST(080) DATA COLLECT: COLL(081) MOVE TO REGISTER: MOVR(560) MOVE TIMER/COUNTER PV TO REGISTER: MOVRW(561)

33 Data Shift Instructions
SHIFT REGISTER: SFT(010) REVERSIBLE SHIFT REGISTER: SFTR(084) ASYNCHRONOUS SHIFT REGISTER: ASFT(017) WORD SHIFT: WSFT(016) ARITHMETIC SHIFT LEFT: ASL(025) DOUBLE SHIFT LEFT: ASLL(570) ARITHMETIC SHIFT RIGHT: ASR(026) DOUBLE SHIFT RIGHT: ASRL(571) ROTATE LEFT: ROL(027) DOUBLE ROTATE LEFT: ROLL(572) ROTATE RIGHT: ROR(028) DOUBLE ROTATE RIGHT: RORL(573) ROTATE LEFT WITHOUT CARRY: RLNC(574) DOUBLE ROTATE LEFT WITHOUT CARRY: RLNL(576) ROTATE RIGHT WITHOUT CARRY: RRNC(575) DOUBLE ROTATE RIGHT WITHOUT CARRY: RRNL(577) ONE DIGIT SHIFT LEFT: SLD(074) ONE DIGIT SHIFT RIGHT: SRD(075) SHIFT N-BIT DATA LEFT: NSFL(578) SHIFT N-BIT DATA RIGHT: NSFR(579) SHIFT N-BITS LEFT: NASL(580) DOUBLE SHIFT N-BITS LEFT: NSLL(582) SHIFT N-BITS RIGHT: NASR(581) DOUBLE SHIFT N-BITS RIGHT: NSRL(583)

34 Increment/Decrement Instructions
INCREMENT BINARY: ++(590) DOUBLE INCREMENT BINARY: ++L(591) DECREMENT BINARY: – –(592) DOUBLE DECREMENT BINARY: – –L(593) INCREMENT BCD: ++B(594) DOUBLE INCREMENT BCD: ++BL(595) DECREMENT BCD: – –B(596) DOUBLE DECREMENT BCD: – –BL(597) Symbol Math Instructions SIGNED BINARY ADD WITHOUT CARRY: +(400) DOUBLE SIGNED BINARY ADD WITHOUT CARRY: +L(401) SIGNED BINARY ADD WITH CARRY: +C(402) DOUBLE SIGNED BINARY ADD WITH CARRY: +CL(403) BCD ADD WITHOUT CARRY: +B(404) DOUBLE BCD ADD WITHOUT CARRY: +BL(405) BCD ADD WITH CARRY: +BC(406)

35 Symbol Math Instructions
DOUBLE BCD ADD WITH CARRY: +BCL(407) SIGNED BINARY SUBTRACT WITHOUT CARRY: –(410) DOUBLE SIGNED BINARY SUBTRACT WITHOUT CARRY: –L(411) SIGNED BINARY SUBTRACT WITH CARRY: –C(412) DOUBLE SIGNED BINARY WITH CARRY: –CL(413) BCD SUBTRACT WITHOUT CARRY: –B(414) DOUBLE BCD SUBTRACT WITHOUT CARRY: –BL(415) BCD SUBTRACT WITH CARRY: –BC(416) DOUBLE BCD SUBTRACT WITH CARRY: –BCL(417) SIGNED BINARY MULTIPLY: *(420) DOUBLE SIGNED BINARY MULTIPLY: *L(421) UNSIGNED BINARY MULTIPLY: *U(422) DOUBLE UNSIGNED BINARY MULTIPLY: *UL(423) BCD MULTIPLY: *B(424) DOUBLE BCD MULTIPLY: *BL(425) SIGNED BINARY DIVIDE: /(430) DOUBLE SIGNED BINARY DIVIDE: /L(431) UNSIGNED BINARY DIVIDE: /U(432) DOUBLE UNSIGNED BINARY DIVIDE: /UL(433). BCD DIVIDE: /B(434) DOUBLE BCD DIVIDE: /BL(435)

36 Conversion Instructions
BCD-TO-BINARY: BIN(023) DOUBLE BCD-TO-DOUBLE BINARY: BINL(058) BINARY-TO-BCD: BCD(024) DOUBLE BINARY-TO-DOUBLE BCD: BCDL(059) 2’S COMPLEMENT: NEG(160) DOUBLE 2’S COMPLEMENT: NEGL(161) 16-BIT TO 32-BIT SIGNED BINARY: SIGN(600) DATA DECODER: MLPX(076) DATA ENCODER: DMPX(077) ASCII CONVERT: ASC(086) ASCII TO HEX: HEX(162) COLUMN TO LINE: LINE(063) LINE TO COLUMN: COLM(064) SIGNED BCD-TO-BINARY: BINS(470) DOUBLE SIGNED BCD-TO-BINARY: BISL(472) SIGNED BINARY-TO-BCD: BCDS(471) DOUBLE SIGNED BINARY-TO-BCD: BDSL(473)

37 Special Math Instructions
LOGICAL AND: ANDW(034) DOUBLE LOGICAL AND: ANDL(610) LOGICAL OR: ORW(035) DOUBLE LOGICAL OR: ORWL(611) EXCLUSIVE OR: XORW(036) DOUBLE EXCLUSIVE OR: XORL(612) EXCLUSIVE NOR: XNRW(037) DOUBLE EXCLUSIVE NOR: XNRL(613) COMPLEMENT: COM(029) DOUBLE COMPLEMENT: COML(614) Special Math Instructions BINARY ROOT: ROTB(620) BCD SQUARE ROOT: ROOT(072) ARITHMETIC PROCESS: APR(069) FLOATING POINT DIVIDE: FDIV(079) BIT COUNTER: BCNT(067)

38 Floating-point Math Instructions
FLOATING TO 16-BIT: FIX(450) FLOATING TO 32-BIT: FIXL(451) 16-BIT TO FLOATING: FLT(452) 32-BIT TO FLOATING: FLTL(453) FLOATING-POINT ADD: +F(454) FLOATING-POINT SUBTRACT: –F(455) FLOATING-POINT MULTIPLY: *F(456) FLOATING-POINT DIVIDE: /F(457) DEGREES TO RADIANS: RAD(458) RADIANS TO DEGREES: DEG(459) SINE: SIN(460) COSINE: COS(461) TANGENT: TAN(462) ARC SINE: ASIN(463) ARC COSINE: ACOS(464) ARC TANGENT: ATAN(465) SQUARE ROOT: SQRT(466) EXPONENT: EXP(467) LOGARITHM: LOG(468) EXPONENTIAL POWER: PWR(840) Single-precision Floating-point Comparison Instructions (CS1-H/CJ1-H/CJ1M Only) FLOATING-POINT TO ASCII: FSTR(448) (CS1-H/CJ1-H/CJ1M Only) ASCII TO FLOATING-POINT: FVAL(449) (CS1-H/CJ1-H/CJ1M Only)

39 Double-precision Floating-point Instructions (CS1-H/CJ1-H/CJ1M Only)
DOUBLE FLOATING TO 16-BIT: FIXD(841) (CS1-H/CJ1-H/CJ1M Only) DOUBLE FLOATING TO 32-BIT: FIXLD(842) (CS1-H/CJ1-H/CJ1M Only) 16-BIT TO DOUBLE FLOATING: DBL(843) (CS1-H/CJ1-H/CJ1M Only) 32-BIT TO DOUBLE FLOATING: DBLL(844) (CS1-H/CJ1-H/CJ1M Only) DOUBLE FLOATING-POINT ADD: +D(845) (CS1-H/CJ1-H/CJ1M Only) DOUBLE FLOATING-POINT SUBTRACT: –D(846) (CS1-H/CJ1-H/CJ1M Only) DOUBLE FLOATING-POINT MULTIPLY: *D(847) (CS1-H/CJ1-H/CJ1M Only) DOUBLE FLOATING-POINT DIVIDE: /D(848) (CS1-H/CJ1-H/CJ1M Only) DOUBLE DEGREES TO RADIANS: RADD(849) (CS1-H/CJ1-H/CJ1M Only) DOUBLE RADIANS TO DEGREES: DEGD(850) (CS1-H/CJ1-H/CJ1M Only) DOUBLE SINE: SIND(851) (CS1-H/CJ1-H/CJ1M Only) DOUBLE COSINE: COSD(852) (CS1-H/CJ1-H/CJ1M Only) DOUBLE TANGENT: TAND(853) (CS1-H/CJ1-H/CJ1M Only) DOUBLE ARC SINE: ASIND(854) (CS1-H/CJ1-H/CJ1M Only) DOUBLE ARC COSINE: ACOSD(855) (CS1-H/CJ1-H/CJ1M Only) DOUBLE ARC TANGENT: ATAND(856) (CS1-H/CJ1-H/CJ1M Only) DOUBLE SQUARE ROOT: SQRTD(857) (CS1-H/CJ1-H/CJ1M Only) DOUBLE EXPONENT: EXPD(858) (CS1-H/CJ1-H/CJ1M Only) DOUBLE LOGARITHM: LOGD(859) (CS1-H/CJ1-H/CJ1M Only) DOUBLE EXPONENTIAL POWER: PWRD(860) (CS1-H/CJ1-H/CJ1M Only)

40 Data Processing Instructions
SET STACK: SSET(630) PUSH ONTO STACK: PUSH(632) FIRST IN FIRST OUT: FIFO(633) LAST IN FIRST OUT: LIFO(634) DIMENSION RECORD TABLE: DIM(631) SET RECORD LOCATION: SETR(635) GET RECORD NUMBER: GETR(636) DATA SEARCH: SRCH(181) SWAP BYTES: SWAP(637) FIND MAXIMUM: MAX(182) FIND MINIMUM: MIN(183) SUM: SUM(184) FRAME CHECKSUM: FCS(180) STACK SIZE READ: SNUM(638) (CS1-H/CJ1-H/CJ1M Only) STACK DATA READ: SREAD(639) (CS1-H/CJ1-H/CJ1M Only) STACK DATA OVERWRITE: SWRIT(640) (CS1-H/CJ1-H/CJ1M Only) STACK DATA INSERT: SINS(641) (CS1-H/CJ1-H/CJ1M Only) STACK DATA DELETE: SDEL(642) (CS1-H/CJ1-H/CJ1M Only)

41 Interrupt Control Instructions
PID CONTROL: PID(190). PID CONTROL WITH AUTOTUNING: PIDAT(191) (CS1-H/CJ1-H/CJ1M Only) LIMIT CONTROL: LMT(680) DEAD BAND CONTROL: BAND(681) DEAD ZONE CONTROL: ZONE(682) SCALING: SCL(194) SCALING 2: SCL2(486) SCALING 3: SCL3(487) AVERAGE: AVG(195) Subroutines SUBROUTINE CALL: SBS(091) MACRO: MCRO(099) SUBROUTINE ENTRY: SBN(092) SUBROUTINE RETURN: RET(093) GLOBAL SUBROUTINE CALL: GSBS(750) (CS1-H/CJ1-H/CJ1M Only) GLOBAL SUBROUTINE ENTRY: GSBN(751) (CS1-H/CJ1-H/CJ1M Only) GLOBAL SUBROUTINE RETURN: GRET(752) (CS1-H/CJ1-H/CJ1M Only) Interrupt Control Instructions SET INTERRUPT MASK: MSKS(690) READ INTERRUPT MASK: MSKR(692) CLEAR INTERRUPT: CLI(691) DISABLE INTERRUPTS: DI(693) ENABLE INTERRUPTS: EI(694)

42 High-speed Counter/Pulse Output Instructions
MODE CONTROL: INI(880) (CJ1M-CPU22/CPU23 Only) HIGH-SPEED COUNTER PV READ: PRV(881) (CJ1M-CPU22/CPU23 Only) REGISTER COMPARISON TABLE: CTBL(882) (CJ1M-CPU22/CPU23 Only) SPEED OUTPUT: SPED(885) (CJ1M-CPU22/CPU23 Only) SET PULSES: PULS(886) (CJ1M-CPU22/CPU23 Only) PULSE OUTPUT: PLS2(887) (CJ1M-CPU22/CPU23 Only) ACCELERATION CONTROL: ACC(888) (CJ1M-CPU22/CPU23 Only) ORIGIN SEARCH: ORG(889) (CJ1M-CPU22/CPU23 Only) PULSE WITH VARIABLE DUTY FACTOR: PWM(891) (CJ1M-CPU22/CPU23 Only) Step Instructions STEP DEFINE and STEP START: STEP(008)/SNXT(009) Basic I/O Unit Instructions I/O REFRESH: IORF(097) 7-SEGMENT DECODER: SDEC(078) INTELLIGENT I/O READ: IORD(222) INTELLIGENT I/O WRITE: IOWR(223) CPU BUS UNIT I/O REFRESH: DLNK(226) (CS1-H/CJ1-H/CJ1M Only) Communications Instructions PROTOCOL MACRO: PMCR(260) TRANSMIT: TXD(236) RECEIVE: RXD(235) CHANGE SERIAL PORT SETUP: STUP(237)

43 File Memory Instructions
Network Instructions NETWORK SEND: SEND(090) NETWORK RECEIVE: RECV(098) DELIVER COMMAND: CMND(490) File Memory Instructions READ DATA FILE: FREAD(700) WRITE DATA FILE: FWRIT(701) Display Instructions DISPLAY MESSAGE: MSG(046) Clock Instructions CALENDAR ADD: CADD(730) CALENDAR SUBTRACT: CSUB(731) HOURS TO SECONDS: SEC(065) SECONDS TO HOURS: HMS(066) CLOCK ADJUSTMENT: DATE(735) Debugging Instructions Trace Memory Sampling: TRSM(045)

44 Failure Diagnosis Instructions
FAILURE ALARM: FAL(006) SEVERE FAILURE ALARM: FALS(007) FAILURE POINT DETECTION: FPD(269) Other Instructions SET CARRY: STC(040) CLEAR CARRY: CLC(041) SELECT EM BANK: EMBC(281) EXTEND MAXIMUM CYCLE TIME: WDT(094) SAVE CONDITION FLAGS: CCS(282) (CS1-H/CJ1-H/CJ1M Only) LOAD CONDITION FLAGS: CCL(283) (CS1-H/CJ1-H/CJ1M Only) CONVERT ADDRESS FROM CV: FRMCV(284) (CS1-H/CJ1-H/CJ1M Only) CONVERT ADDRESS TO CV: TOCV(285) (CS1-H/CJ1-H/CJ1M Only) DISABLE PERIPHERAL SERVICING: IOSP(287) (CS1-H/CJ1-H/CJ1M Only) ENABLE PERIPHERAL SERVICING: IORS(288) (CS1-H/CJ1-H/CJ1M Only) Block Programming Instructions BLOCK PROGRAM BEGIN/END: BPRG(096)/BEND(801) BLOCK PROGRAM PAUSE/RESTART: BPPS(811)/BPRS(812) Branching: IF(802), ELSE(803), and IEND(804) CONDITIONAL BLOCK EXIT (NOT): EXIT (NOT)(806) ONE CYCLE AND WAIT (NOT): WAIT(805)/WAIT(805) NOT TIMER WAIT: TIMW(813) and TIMWX(816) COUNTER WAIT: CNTW(814) and CNTWX(818) HIGH-SPEED TIMER WAIT: TMHW(815) and TMHWX(817) Loop Control: LOOP(809)/LEND(810)/LEND(810) NOT

45 String Processing Instructions
MOV STRING: MOV$(664) CONCATENATE STRING: +$(656) GET STRING LEFT: LEFT$(652) GET STRING RIGHT: RGHT$(653) GET STRING MIDDLE: MID$(654) FIND IN STRING: FIND$(660) STRING LENGTH: LEN$(650) REPLACE IN STRING: RPLC$(661) DELETE STRING: DEL$(658) EXCHANGE STRING: XCHG$(665) CLEAR STRING: CLR$(666) INSERT INTO STRING: INS$(657) String Comparison Instructions (670 to 675) Control Instructions TASK ON: TKON(820) TASK OFF: TKOF(821)