Omron Sysmac CP1H - Comprehensive Instruction Reference; Data Conversion and Floating-Point Math Instructions; Serial Communications and Other Instructions; Logic, Step, and Debugging Instructions

2
8
29
PR
O
T
OCO
L MA
C
R
O
PM
CR
2
60
TRAN
S
MI
T
TXD
2
36
RE
C
EIV
E
RXD
2
35
TRAN
S
MIT VIA
S
ERIAL
CO
MM
U
NI
C
ATI
O
N
S
U
NI
T
TXD
U
2
56
RE
C
EIVE VIA
S
ERIAL
CO
MM
U
NI
C
ATI
O
N
S
U
NI
T
RXDU 25
5
C
HAN
G
E
S
ERIAL
P
O
RT
S
ET
UP
S
T
UP
2
37
S
ET
C
ARR
Y
S
T
C
0
4
0
C
LEAR
C
ARR
Y
C
L
C
0
4
1
EXTEND MAXIM
U
M
C
Y
C
LE TIM
E
WDT
094
S
AVE
CO
NDITI
O
N
F
LA
GS
CCS
2
8
2
L
O
AD
CO
NDITI
O
N
F
LA
GS
CCL
2
83
CO
NVERT ADDRE
SS
F
R
O
M
CS
FRM
CV
2
84
CO
NVERT ADDRE
SS
TO C
V
T
OCV
2
85
M
O
V
S
TRIN
G
MOV
$
664
+
$
656
G
ET
S
TRIN
G
LEF
T
LEFT
$
652
G
ET
S
TRIN
G
RI
G
H
T
RGHT
$
653
G
ET
S
TRIN
G
MIDDL
E
MID
$
654
FIND IN
S
TRIN
G
FIND
$
660
S
TRIN
G
LEN
G
T
H
LEN
$
650
REPLA
C
E IN
S
TRIN
G
RPLC
$
661
DELETE
S
TRIN
G
DEL
$
658
EXCHANGE STRIN
G
XCHG
$
66
5
C
LEAR
S
TRIN
G
CLR
$
666
INS
$
657
Strin
g
Compariso
n
LD
,
O
R
+
<>
$
,
<
$
,
<
= $
,
>
$
,
>
=
$
6
7
0
6
71
6
7
3
(
<
=
$)
(
>
$
)
6
7
5
(
>
=
$)
BL
OC
K PR
OG
RAM
BE
G
IN
BPR
G
096
BL
OC
K PR
OG
RAM EN
D
BEND
801
BL
OC
K PR
OG
RAM
PA
USE
BPP
S
8
1
1
BL
OC
K PR
OG
RAM
RE
S
TART
BPR
S
8
12
CO
NDITI
O
NAL
BL
OC
K EXI
T
CCS
2
8
2
CO
NDITI
O
NAL
BL
OC
K EXI
T
CO
NDITI
O
N
EXIT
806
CO
NDITI
O
NAL
BL
OC
K EXI
T
EXIT Bi
t
o
p
erand
806
CO
NDITI
O
NAL BL
OC
K
EXIT
(
NOT
)
EXIT N
O
T
Bit o
p
erand
806
CO
NDITI
O
NAL BL
OC
K
BRAN
C
HIN
G
CO
NDITI
O
N
IF
80
2
CO
NDITI
O
NAL BL
OC
K
BRAN
C
HIN
G
IF Bi
t
o
p
erand
80
2
BRANCHING
(
NOT
)
IF N
O
T Bi
t
o
p
erand
80
2
CO
NDITI
O
NAL BL
OC
K
BRANCHING
(
ELSE
)
EL
SE
803
CO
NDITI
O
NAL BL
OC
K
BRAN
C
HIN
G
EN
D
IEND
804
ONE CYCLE AND
WAIT
CO
NDITI
O
N
WAIT
805
O
NE
C
Y
C
LE AND
WAIT
WAIT Bi
t
o
p
erand
805
O
NE
C
Y
C
LE AND
WAIT
(
NOT
)
WAIT N
O
T
Bi
t o
p
eran
d
805
TIMER WAIT
TIMW
B
CD
8
1
3
8
1
6
COU
NTER
WAIT
8
1
4
B
CD
HI
G
H-
S
PEED
TIMER WAIT
TMHW
8
1
5
L
OOP
L
OOP
809
BI
N
C
NTW
X
8
1
7
BIN
TMHWX
8
1
8
DI
S
PLAY ME
SS
A
GE
M
SG
0
4
6
DI
S
PLAY 7-
S
E
G
MENT
DATA
SC
H
04
7
CO
NTR
O
L
7-
S
E
G
MENT
SC
TR
L
0
4
8
TRA
C
E MEM
O
R
Y
S
AMPLIN
G
TR
SM
0
4
5
LEND
CO
NDITI
O
N
LEND
8
1
0
LEND
LEND Bi
t
o
p
erand
8
1
0
LEND N
OT
LEND N
O
T
Bit o
p
erand
8
1
0
NETW
O
RK
S
EN
D
S
EN
D
090
NETW
O
RK RE
C
EIV
E
RE
CV
DELIVER
CO
MMAN
D
C
MN
D
098
4
90
EXPLI
C
IT ME
SS
A
G
E
S
END
EXPLT
72
0
EXPLI
C
IT
G
ET
ATTRIB
U
T
E
E
G
AT
R
72
1
EXPLI
C
IT
S
ET
ATTRIBUT
E
E
S
AT
R
722
E
C
HR
D
72
3
EXPLICIT WORD WRIT
E
E
C
HW
R
724
TA
S
K
ON
TK
ON
8
2
0
TA
S
K
O
F
F
TK
OF
8
21
BL
OC
K TRAN
S
FE
R
XFER
C
565
S
IN
G
LE W
O
RD
DI
S
TRIB
U
T
E
DI
S
T
C
566
DATA
CO
LLE
CT
CO
LL
C
56
7
MOVE BI
T
M
O
VB
C
568
BIT COUNTE
R
B
C
NT
C
6
21
G
ET VARIABLE I
D
G
ETI
D
286
C
ALENDAR AD
D
C
AD
D
CSUB
S
E
C
065
HM
S
06
6
7
30
7
31
DATE
7
35
C
ALENDAR
SU
BTRA
CT
H
OU
R
S
T
O
S
E
CO
ND
S
S
E
CO
ND
S
T
O
H
OU
R
S
C
L
OC
K ADJ
US
TMEN
T
FAIL
U
RE ALAR
M
FAL
FAL
S
FP
D
2
69
006
00
7
S
EVERE FAIL
U
RE
ALARM
FAIL
U
RE P
O
INT
DETE
C
TI
ON
B
C
D-T
O
-BINAR
Y
BIN
0
2
3
FL
O
ATIN
G
T
O
1
6
-BI
T
FIX
4
50
FL
O
ATIN
G
T
O
3
2-BI
T
FIXL
4
51
1
6
-BIT T
O
FL
O
ATIN
G
FL
T
4
52
3
2-BIT T
O
FL
O
ATIN
G
FLTL
4
53
FL
O
ATIN
G
-P
O
INT AD
D
+F
4
54
FL
O
ATIN
G
-P
O
INT
SUBTRAC
T
–
F
4
55
FL
O
ATIN
G
- P
O
INT
MULTIPL
Y
*
F
4
56
FL
O
ATIN
G
- P
O
INT
DIVIDE
/F
4
57
DE
G
REE
S
T
O
RADIAN
S
RAD
4
58
RADIAN
S
T
O
DE
G
REE
S
DE
G
4
59
S
IN
E
S
I
N
4
60
COS
IN
E
COS
4
61
TAN
G
EN
T
TAN
4
62
AR
C
S
IN
E
A
S
I
N
4
63
AR
C
COS
IN
E
A
COS
4
64
ARC TANGEN
T
ATAN
46
5
SQU
ARE R
OOT
SQ
R
T
4
66
D
OU
BLE B
C
D-T
O-
D
OU
BLE BINAR
Y
BINL
058
BINARY-T
O
-B
CD
B
CD
0
2
4
D
OU
BLE BINARY
-
T
O
-D
OU
BLE B
CD
B
C
D
L
059
2
’
NE
G
1
60
D
OU
BLE
2
’
S
CO
MPLEMEN
T
NE
GL
1
61
D
OU
BLE
2
’
S
CO
MPLEMEN
T
S
I
GN
600
DATA DE
CO
DER
MLPX
0
7
6
DATA EN
CO
DER
DMPX
0
7
7
A
SC
II
CO
NVER
T
A
SC
086
A
SC
II T
O
HE
X
HEX
CO
L
U
MN T
O
LIN
E
LINE
1
62
063
LINE T
O
CO
L
U
M
N
CO
L
M
064
S
I
G
NED B
C
D-T
O-
BINARY
BIN
S
47
0
D
OU
BLE
S
I
G
NED
B
C
D-T
O
-BINAR
Y
BI
S
L
472
S
I
G
NED BINARYT
O-
BC
D
B
C
D
S
471
D
OU
BLE
S
I
G
NED
BINARY-T
O
-B
CD
BD
SL
47
3
CO
NVERT
G
RA
Y
CO
D
E
G
R
Y
474
SU
BR
OU
TINE
C
AL
L
S
B
S
R
OOT
APR
069
FDIV
0
7
9
09
1
S
ET INTERR
U
PT MA
SK
M
S
K
S
690
M
O
DE
CO
NTR
OL
INI
880
HI
G
H-
S
PEED
COU
NTER PV REA
D
PRV
88
1
COU
NTER
FRE
QU
EN
C
Y
CO
NVER
T
PRV2
883
CO
MPARI
SO
N
TABLE L
O
A
D
C
TB
L
882
S
PEED
OU
TP
UT
S
PE
D
885
S
ET P
U
L
S
E
S
P
U
L
S
886
PULSE OUTPU
T
PLS
2
88
7
A
CC
ELERATI
O
N
CO
NTR
OL
A
CC
888
O
RI
G
IN
S
EAR
CH
O
R
G
889
P
U
L
S
E WITH VARIABL
E
D
U
TY FA
C
T
O
R
PWM
89
1
READ INTERR
U
PT MA
SK
M
S
K
R
692
C
LEAR INTERR
U
P
T
C
L
I
69
1
DI
S
ABLE INTERR
U
PT
S
DI
693
ENABLE INTERR
U
PT
S
EI
69
4
SU
BR
OU
TINE ENTR
Y
S
B
N
092
SU
BR
OU
TINE RET
U
R
N
RET
093
MA
C
R
O
M
C
R
O
099
G
L
O
BAL
SU
BR
OU
TINE
C
AL
L
GS
B
N
7
5
1
G
L
O
BAL
SU
BR
OU
TINE ENTR
Y
G
RE
T
7
52
G
L
O
BAL
SU
BR
OU
TINE RET
U
R
N
GS
B
S
7
50
PID
CO
NTR
OL
PID
1
90
PID
CO
NTR
O
L
WITH A
U
T
O
T
U
NIN
G
PIDAT
1
91
LIMIT
CO
NTR
OL
LMT
680
DEAD BAND
CO
NTR
OL
BAND
DEAD Z
O
NE
CO
NTR
OL
Z
O
N
E
681
68
2
TIME-PR
O
P
O
RTI
O
NAL
OU
TP
UT
TP
O
685
SC
ALIN
G
SCL
1
94
SC
ALIN
G
2
SC
L
2
4
86
SC
ALIN
G
3
SC
L
3
4
87
AVERA
GE
AV
G
1
95
L
OG
I
C
AL AN
D
ANDW
034
D
OU
BLE L
OG
I
C
AL AN
D
ANDL
L
OG
I
C
AL
O
R
O
R
W
6
1
0
035
D
OU
BLE L
OG
I
C
AL
OR
O
RW
L
6
1
1
EX
C
L
US
IVE
OR
X
O
R
W
036
D
OU
BLE EX
C
L
US
IVE
OR
XOR
L
61
2
EX
C
L
US
IVE N
OR
XNR
W
037
D
OU
BLE EX
C
L
US
IVE
N
OR
XNRL
6
1
3
CO
MPLEMEN
T
COM
0
2
9
D
OU
BLE
CO
MPLEMEN
T
CO
ML
6
1
4
0
7
2
B
C
N
T
067
B
C
D
SQU
ARE R
OOT
R
O
T
B
6
2
0
BINARY R
OOT
S
TE
P
008
S
TEP DEFIN
E
I
O
R
F
097
I
/
O REFRES
H
S
DE
C
0
7
8
7-
S
E
G
MENT DE
CO
DE
R
D
SW
21
0
DI
G
ITAL
S
WIT
C
H INP
UT
TK
Y
211TEN KEY INP
UT
HKY
212
HEXADE
C
IMAL KEY
INP
UT
MTR
21
3
MATRIX INP
UT
7
S
E
G
214
7-
S
E
G
MENT DI
S
PLAY
OU
TP
UT
I
O
R
D
22
2
INTELLIGENT I
/
O
READ
IOW
R
22
3
INTELLIGENT I
/
O
WRITE
DLNK
22
6
CPU BUS UNIT I
/
O
REFRE
SH
S
NX
T
009
S
TEP
S
TAR
T
S
ET
S
TA
CK
SS
E
T
P
USH
630
632
P
US
H
O
NT
O
S
TA
CK
FIF
O
633
FIR
S
T IN FIR
S
T
OUT
L
IF
O
634
LA
S
T IN FIR
S
T
OUT
DIM
631
DIMEN
S
I
O
N RE
CO
RD
TA
B
L
E
S
ET
R
635
S
ET RE
CO
RD L
OC
ATI
ON
G
ET
R
636
G
ET RE
CO
RD N
U
MBE
R
S
R
CH
1
81
DATA
S
EAR
CH
S
WA
P
637
S
WAP BYTE
S
MAX
1
8
2FIND MAXIM
UM
MIN
1
83
FIND MINIM
UM
SUM
1
84
SUM
F
CS
1
80
FRAME
C
HE
C
K
SUM
S
N
UM
638
S
TA
C
K
S
IZE REA
D
S
REA
D
639
S
TA
C
K DATA REA
D
S
WRI
T
6
4
0
S
TA
C
K DATA
O
VERWRIT
E
S
IN
S
6
4
1
S
TA
C
K DATA IN
S
ER
T
S
DE
L
6
4
2
S
TA
C
K DATA DELET
E
ARITHMETI
C
PR
OC
E
SS
FL
O
ATIN
G
P
O
INT
DIVIDE
BIT
COU
NTE
R
D
OU
BLE FL
O
ATIN
G
T
O
1
6
-BIT BINAR
Y
FIXD
8
4
1
D
OU
BLE FL
O
ATIN
G
T
O
3
2-BIT BINAR
Y
FIXLD
8
4
2
1
6
-BIT BINARY T
O
D
OU
BLE FL
O
ATIN
G
DBL
8
4
3
3
2-BIT BINARY T
O
D
OU
BLE FL
O
ATIN
G
D
B
L
L
8
4
4
D
OU
BLE
FL
O
ATIN
G
P
O
INT AD
D
+D
8
4
5
D
OU
BLE
FL
O
ATIN
G
P
O
INT
SU
BTRA
CT
–
D
8
4
6
D
OU
BLE
FL
O
ATIN
G
P
O
INT
M
U
LTIPL
Y
*
D
8
4
7
D
OU
BLE
FL
O
ATIN
G
P
O
INT
DIVIDE
/D
8
4
8
D
OU
BLE DE
G
REE
S
T
O
RADIAN
S
RADD
8
4
9
EXPONEN
T
EXP
46
7
D
OU
BLE RADIAN
S
T
O
DE
G
REE
S
DE
GD
850
DOUBLE SINE SIN
D
85
1
D
OU
BLE
COS
IN
E
COSD
852
TAND
853
854
D
OU
BLE AR
C
COS
IN
E
A
COSD
855
D
OU
BLE AR
C
TAN
G
EN
T
ATAND
856
D
OU
BLE
SQU
ARE
R
OOT
SQ
RT
D
857
D
OU
BLE
EXP
O
NEN
T
EXPD
858
D
OU
BLE
L
OG
ARITH
M
L
OGD
859
D
OU
BLE EXP
O-
NENTIAL POWE
R
PWRD
860
D
OU
BLE
S
YMB
O
L
CO
MPARI
SON
LD
,
AND
,
OR
D
,
<
D
,
>
=
D
335
(
=D
)
336
(
337
(
<
D
)
338
(
<
=D
)
339
(
>
D
)
340
(
>
=D
)
L
OG
ARITH
M
L
OG
4
68
EXP
O
NENTIAL
P
O
WE
R
PWR
8
4
0
Floatin
g
Symbol
Com
p
ariso
n
FL
O
ATIN
G
- P
O
INT
T
O
A
SC
I
I
LD
,
AND
,
O
R
<
>
F
,
>
=
F
329
(
= F
)
331
(
F)
332
(
F
)
333
(
>
F
)
334
(
>=
F)
F
S
T
R
44
8
A
SC
II T
O
FLOATING-POIN
T
FVAL
44
9
Instructions
D
ata
Co
nv
e
r
s
i
o
n In
st
r
uct
i
o
n
s
Floating-point Math
In
st
r
uct
i
o
n
s
Double-precision Floating-point
In
st
r
uct
i
o
n
s
Logic Instruction
s
Double-
p
recision
Floating-point Instruction
s
Table Data Processing
In
st
r
uct
i
o
n
s
Floating-point Math
In
st
r
uct
i
o
n
s
S
p
ecial Math Instruction
s
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
cod
e
Mn
e
m
o
ni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Fu
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Fu
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Fu
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Fu
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mnemoni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
I
n
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
Instruction
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
Instruction
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Function
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
Function
code
Mn
e
m
o
ni
c
In
st
r
uct
i
o
n
F
u
n
ct
i
o
n
code
Mn
e
m
o
ni
c
D
ata
Co
n
t
r
o
l In
st
r
uct
i
o
n
s
Ste
p
Instruction
s
Basic I
/
O Unit Instruction
s
Sub
r
out
in
e
In
st
r
uct
i
o
n
s
Se
ri
a
l
Co
mm
u
ni
cat
i
o
n
s
In
st
r
uct
i
o
n
s
N
et
w
o
rk In
st
r
uct
i
o
n
s
Ot
h
e
r In
st
r
uct
i
o
n
s
T
as
k
Co
n
t
r
o
l In
st
r
uct
i
o
n
s
M
ode
l
Co
nv
e
r
s
i
o
n
In
st
r
uct
i
o
n
s
S
p
ecial Instructions for
F
u
n
ct
i
o
n Bl
oc
k
s
Text String Processing
In
st
r
uct
i
o
n
s
Block Programming
In
st
r
uct
i
o
n
s
Dis
p
lay Instruction
s
C
l
oc
k In
st
r
uct
i
o
n
s
Debugging Instruction
s
Interru
p
t Control Instruction
s
High-speed Counter and
Pulse Out
p
ut Instruction
s
Failure Diagnosis Instruction
s
Block Programming
In
st
r
uct
i
o
n
s