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OMRON CJ1H-CPUxxH-R Reference Manual

OMRON CJ1H-CPUxxH-R Reference Manual (1402 pages)

SYSMAC CS/CJ/One NSJ Series Programmable Controllers

Brand: OMRON | Category: Controller | Size: 22.74 MB

Table of Contents

Table of Contents

20
- About this Manual
  22
Precautions

30
- General Precautions
  31
- Intended Audience
  31
- Safety Precautions
  31
- Application Precautions
  33
- Operating Environment Precautions
  33
- Conformance to EC Directives
  37
  - Applicable Directives
    37
  - Concepts
    37
  - Conformance to EC Directives
    38
  - Relay Output Noise Reduction Methods
    38
  - Introduction
    40
- General Instruction Characteristics
  41
- Instruction Execution Checks
  52
Section 2 Summary of Instructions

54
- Summary of Instructions
  54
  - Instruction Classifications by Function
    55
  - Instruction Functions
    64
    
    Sequence Input Instructions
    64
    
    Sequence Output Instructions
    66
    
    Sequence Control Instructions
    69
    
    Timer and Counter Instructions
    73
    
    Comparison Instructions
    78
    
    Data Movement Instructions
    82
    
    Data Shift Instructions
    85
    
    Increment/Decrement Instructions
    89
    
    Symbol Math Instructions
    90
    
    Conversion Instructions
    95
    
    Logic Instructions
    102
    
    Special Math Instructions
    104
    
    Floating-Point Math Instructions
    105
    
    Double-Precision Floating-Point Instructions
    110
    
    Table Data Processing Instructions
    114
    
    Data Control Instructions
    118
    
    Subroutine Instructions
    122
    
    Interrupt Control Instructions
    123
    
    (CJ1M-CPU21/22/23 Only)
    125
    
    High-Speed Counter and Pulse Output Instructions
    125
    
    Basic I/O Unit Instructions
    127
    
    Step Instructions
    127
    
    Serial Communications Instructions
    131
    
    Network Instructions
    132
    
    File Memory Instructions
    135
    
    Clock Instructions
    137
    
    Display Instructions
    137
    
    Debugging Instructions
    138
    
    Failure Diagnosis Instructions
    139
    
    Other Instructions
    140
    
    Block Programming Instructions
    141
    
    Text String Processing Instructions
    147
    
    Task Control Instructions
    150
    
    Model Conversion Instructions (CPU Unit Ver. 3.0 or Later Only)
    151
    
    Special Function Block Instructions
    152
  - Alphabetical List of Instructions by Mnemonic
    153
  - List of Instructions by Function Code
    170
Section 3 Instructions

186
- Instructions
  186
  - Notation and Layout of Instruction Descriptions
    194
  - Instruction Upgrades and New Instructions
    197
    
    Upgrades for CS1-H/CJ1-H CPU Units
    197
  - Sequence Input Instructions
    200
    
    Load: Ld
    200
    
    Load Not: Ld Not
    202
    
    And: and
    204
    
    And Not: and Not
    206
    
    Or: or
    208
    
    Or Not: or Not
    210
    
    And Load: and Ld
    211
    
    Or Load: or Ld
    213
    
    Differentiated and Immediate Refreshing Instructions
    216
    
    Operation Timing for I/O Instructions
    217
    
    TR Bits
    217
    
    Not: Not(520)
    219
    
    CONDITION ON/OFF: up(521) and down(522)
    220
    
    BIT TEST: TST(350) and TSTN(351)
    221
  - Sequence Output Instructions
    224
    
    Output: out
    224
    
    Output Not: out Not
    226
    
    Keep: Keep(011)
    227
    
    DIFFERENTIATE UP/DOWN: DIFU(013) and DIFD(014)
    232
    
    SET and RESET: SET and RSET
    234
    
    Multiple Bit Set/Reset: Seta(530)/Rsta(531)
    237
    
    Single Bit Set/Reset: Setb(532)/Rstb(533)
    240
    
    Single Bit Output: Outb(534)
    243
  - Sequence Control Instructions
    245
    
    End: End(001)
    245
    
    No Operation: Nop(000)
    246
    
    Overview of Interlock Instructions
    247
    
    INTERLOCK and INTERLOCK CLEAR: IL(002) and ILC
    249
    
    Multi-Interlock Differentiation Hold
    253
    
    MULTI-INTERLOCK DIFFERENTIATION RELEASE, and
    253
    
    JUMP and JUMP END: JMP(004) and JME
    267
    
    Conditional Jump: Cjp(510)/Cjpn(511
    271
    
    MULTIPLE JUMP and JUMP END: JMP0(515) and JME0
    275
    
    For-Next Loops: for(512)/Next
    277
    
    Break Loop: Break(514)
    280
  - Timer and Counter Instructions
    281
    
    Timer Operation
    283
    
    Hundred-Ms Timer: Tim/Timx
    285
    
    Ten-Ms Timer: Timh(015)/Timhx
    289
    
    One-Ms Timer: Tmhh(540)/Tmhhx
    293
    
    Tenth-Ms Timer: Timu(541)/Timux(556
    296
    
    Hundredth-Ms Timer: Tmuh(544)/Tmuhx(557
    299
    
    Accumulative Timer: Ttim(087)/Ttimx(555
    302
    
    Long Timer: Timl(542)/Timlx(553
    306
    
    Multi-Output Timer: Mtim(543)/Mtimx(554
    309
    
    Counter: Cnt/Cntx(546)
    315
    
    Reversible Counter: Cntr(012)/Cntrx(548)
    318
    
    Reset Timer/Counter: Cnr(545)/Cnrx(547)
    322
    
    Example Timer and Counter Applications
    324
    
    Indirect Addressing of Timer/Counter Numbers
    328
  - Comparison Instructions
    331
    
    Input Comparison Instructions (300 to 328)
    331
    
    Time Comparison Instructions (341 to 346)
    337
    
    Compare: Cmp
    343
    
    Double Compare: Cmpl
    346
    
    Signed Binary Compare: Cps
    349
    
    Double Signed Binary Compare: Cpsl
    352
    
    Multiple Compare: Mcmp
    355
    
    Block Compare: Bcmp
    360
    
    Expanded Block Compare: Bcmp2(502)
    362
    
    Area Range Compare: Zcp(088)
    366
    
    Double Area Range Compare: Zcpl(116)
    369
  - Data Movement Instructions
    371
    
    Move: Mov(021)
    371
    
    Move Not: Mvn
    373
    
    Double Move: Movl
    374
    
    Double Move Not: Mvnl
    376
    
    Move Bit: Movb
    377
    
    Move Digit: Movd
    379
    
    Multiple Bit Transfer: Xfrb
    382
    
    Block Transfer: Xfer
    384
    
    Block Set: Bset
    387
    
    Data Exchange: Xchg(073)
    389
    
    Double Data Exchange: Xcgl(562)
    390
    
    Single Word Distribute: Dist(080)
    392
    
    Data Collect: Coll(081)
    394
    
    Move to Register: Movr(560)
    396
    
    Move Timer/Counter Pv to Register: Movrw(561)
    398
  - Data Shift Instructions
    400
    
    Shift Register: Sft
    401
    
    Reversible Shift Register: Sftr
    402
    
    Asynchronous Shift Register: Asft
    405
    
    Word Shift: Wsft
    408
    
    Arithmetic Shift Left: Asl
    410
    
    Double Shift Left: Asll
    411
    
    Arithmetic Shift Right: Asr
    413
    
    Double Shift Right: Asrl
    414
    
    Rotate Left: Rol
    416
    
    Double Rotate Left: Roll(572)
    418
    
    Rotate Right: Ror(028)
    420
    
    Double Rotate Right: Rorl(573)
    421
    
    Rotate Left Without Carry: Rlnc(574)
    423
    
    Double Rotate Left Without Carry: Rlnl(576)
    425
    
    Rotate Right Without Carry: Rrnc(575)
    427
    
    Double Rotate Right Without Carry: Rrnl(577)
    428
    
    One Digit Shift Left: Sld(074)
    430
    
    One Digit Shift Right: Srd(075)
    432
    
    Shift N-Bit Data Left: Nsfl(578)
    433
    
    Shift N-Bit Data Right: Nsfr(579)
    435
    
    Shift N-Bits Left: Nasl(580)
    437
    
    Double Shift N-Bits Left: Nsll(582)
    440
    
    Shift N-Bits Right: Nasr(581)
    443
    
    Double Shift N-Bits Right: Nsrl(583)
    445
  - Increment/Decrement Instructions
    449
    
    Increment Binary: ++(590)
    449
    
    Double Increment Binary: ++L(591)
    451
    
    Decrement Binary: - -(592)
    453
    
    Double Decrement Binary: - -L(593)
    455
    
    Increment Bcd: ++B(594)
    457
    
    Double Increment Bcd: ++Bl(595)
    459
    
    Decrement Bcd: - -B(596)
    461
    
    Double Decrement Bcd: - -Bl(597)
    463
  - Symbol Math Instructions
    465
    
    Signed Binary Add Without Carry: +(400)
    466
    
    Double Signed Binary Add Without Carry: +L(401)
    468
    
    Signed Binary Add with Carry: +C(402)
    470
    
    Double Signed Binary Add with Carry: +Cl(403)
    472
    
    Bcd Add Without Carry: +B(404)
    474
    
    Double Bcd Add Without Carry: +Bl(405)
    475
    
    Bcd Add with Carry: +Bc(406)
    477
    
    Double Bcd Add with Carry: +Bcl(407)
    479
    
    Signed Binary Subtract Without Carry: -(410)
    480
    
    Double Signed Binary Subtract Without Carry: -L(411)
    482
    
    Signed Binary Subtract with Carry: -C(412)
    486
    
    Double Signed Binary Subtract with Carry: -Cl(413)
    488
    
    Bcd Subtract Without Carry: -B(414)
    491
    
    Double Bcd Subtract Without Carry: -Bl(415)
    492
    
    Bcd Subtract with Carry: -Bc(416)
    496
    
    Double Bcd Subtract with Carry: -Bcl(417)
    497
    
    Signed Binary Multiply: *(420)
    499
    
    Double Signed Binary Multiply: *L(421)
    501
    
    Unsigned Binary Multiply: *U(422)
    503
    
    Double Unsigned Binary Multiply: *Ul(423)
    505
    
    Bcd Multiply: *B(424)
    507
    
    Double Bcd Multiply: *Bl(425)
    509
    
    Signed Binary Divide: /(430)
    511
    
    Double Signed Binary Divide: /L(431)
    513
    
    Unsigned Binary Divide: /U(432)
    515
    
    Double Unsigned Binary Divide: /Ul(433)
    517
    
    Bcd Divide: /B(434)
    519
    
    Double Bcd Divide: /Bl(435)
    521
  - Conversion Instructions
    523
    
    Bcd to Binary: bin(023)
    523
    
    Double Bcd to Double Binary: Binl(058)
    525
    
    Binary to Bcd: Bcd(024)
    527
    
    Double Binary to Double Bcd: Bcdl(059)
    529
    
    2'S Complement: Neg(160)
    531
    
    Double 2'S Complement: Negl(161)
    533
    
    16-Bit to 32-Bit Signed Binary: Sign(600)
    534
    
    Data Decoder: Mlpx(076)
    536
    
    Data Encoder: Dmpx(077)
    540
    
    Ascii Convert: Asc(086)
    544
    
    Ascii to Hex: Hex(162)
    548
    
    Column to Line: Line(063)
    552
    
    Line to Column: Colm(064)
    554
    
    Signed Bcd to Binary: Bins(470)
    557
    
    Double Signed Bcd to Binary: Bisl(472)
    560
    
    Signed Binary to Bcd: Bcds(471)
    563
    
    Double Signed Binary to Bcd: Bdsl(473)
    565
    
    Gray Code Convert: Gry(474)
    569
    
    Four-Digit Number to Ascii: Str4(601)
    574
    
    Eight-Digit Number to Ascii: Str8(602)
    577
    
    Sixteen-Digit Number to Ascii: Str16(603)
    579
    
    Ascii to Four-Digit Number: Num4(604)
    581
    
    Ascii to Eight-Digit Number: Num8(605)
    584
    
    Ascii to Sixteen-Digit Number: Num16(606)
    585
  - Logic Instructions
    588
    
    Logical And: Andw(034)
    588
    
    Double Logical And: Andl(610)
    590
    
    Logical Or: Orw(035)
    591
    
    Double Logical Or: Orwl(611)
    593
    
    Exclusive Or: Xorw(036)
    595
    
    Double Exclusive Or: Xorl(612)
    597
    
    Exclusive Nor: Xnrw(037)
    599
    
    Double Exclusive Nor: Xnrl(613)
    600
    
    Complement: Com(029)
    602
    
    Double Complement: Coml(614)
    604
  - Special Math Instructions
    605
    
    Binary Root: Rotb(620)
    605
    
    Bcd Square Root: Root(072)
    607
    
    Arithmetic Process: Apr(069)
    611
    
    Floating-Point Multiply: *F(456)
    613
    
    Floating Point Divide: Fdiv(079)
    623
    
    Bit Counter: Bcnt(067)
    627
  - Floating-Point Math Instructions
    629
    
    Floating to 16-Bit: Fix(450)
    634
    
    Floating to 32-Bit: Fixl(451)
    636
    
    16-Bit to Floating: Flt(452)
    637
    
    32-Bit to Floating: Fltl(453)
    639
    
    Floating-Point Add: +F(454)
    641
    
    Floating-Point Subtract: -F(455)
    643
    
    Floating-Point Divide: /F(457)
    647
    
    Degrees to Radians: Rad(458)
    649
    
    Radians to Degrees: Deg(459)
    650
    
    Sine: sin(460)
    652
    
    High-Speed Sine: Sinq(475)
    654
    
    Cosine: Cos(461)
    655
    
    High-Speed Cosine: Cosq(476)
    657
    
    Tangent: tan(462)
    659
    
    High-Speed Tangent: Tanq(477)
    661
    
    Arc Sine: Asin(463)
    663
    
    Arc Cosine: Acos(464)
    665
    
    Arc Tangent: Atan(465)
    667
    
    Double Floating-Point Multiply: *D(847)
    669
    
    Square Root: Sqrt(466)
    669
    
    Exponent: Exp(467)
    671
    
    Logarithm: Log(468)
    673
    
    Exponential Power: Pwr(840)
    675
    
    Single-Precision Floating-Point Comparison Instructions
    676
    
    Floating-Point to Ascii: Fstr(448)
    680
    
    Ascii to Floating-Point: Fval(449)
    685
    
    Move Floating-Point (Single): Movf(469)
    689
  - Double-Precision Floating-Point Instructions (CS1-H, CJ1-H, CJ1M, or CS1D Only)
    691
    
    Double Floating to 16-Bit: Fixd(841)
    697
    
    Double Floating to 32-Bit: Fixld(842)
    698
    
    16-Bit to Double Floating: Dbl(843)
    700
    
    32-Bit to Double Floating: Dbll(844)
    701
    
    Double Floating-Point Add: +D(845)
    703
    
    Double Floating-Point Subtract: -D(846)
    705
    
    Double Floating-Point Divide: /D(848)
    709
    
    Double Degrees to Radians: Radd(849)
    711
    
    Double Radians to Degrees: Degd(850)
    713
    
    Double Sine: sind(851)
    714
    
    Double Cosine: Cosd(852)
    716
    
    Double Tangent: Tand(853)
    718
    
    Double Arc Sine: Asind(854)
    720
    
    Double Arc Cosine: Acosd(855)
    722
    
    Double Arc Tangent: Atand(856)
    724
    
    Double Square Root: Sqrtd(857)
    726
    
    Double Exponent: Expd(858)
    728
    
    Double Logarithm: Logd(859)
    730
    
    Double Exponential Power: Pwrd(860)
    732
    
    Double-Precision Floating-Point Input Instructions
    734
  - Table Data Processing Instructions
    737
    
    Set Stack: Sset(630)
    743
    
    Push Onto Stack: Push(632)
    746
    
    First in First Out: Fifo(633)
    749
    
    Last in First Out: Lifo(634)
    752
    
    Dimension Record Table: DIM(631)
    755
    
    Set Record Location: Setr(635)
    758
    
    Get Record Number: Getr(636)
    760
    
    Data Search: Srch(181)
    762
    
    Swap Bytes: Swap(637)
    765
    
    Find Maximum: Max(182)
    767
    
    Find Minimum: Min(183)
    771
    
    Sum: Sum(184)
    775
    
    Frame Checksum: Fcs(180)
    778
    
    Stack Size Read: Snum(638)
    782
    
    Stack Data Read: Sread(639)
    784
    
    Stack Data Overwrite: Swrit(640)
    787
    
    Stack Data Insert: Sins(641)
    790
    
    Stack Data Delete: Sdel(642)
    793
  - Data Control Instructions
    797
    
    Pid Control: Pid(190)
    797
    
    Pid Control with Autotuning: Pidat(191)
    809
    
    Limit Control: Lmt(680)
    819
    
    Dead Band Control: Band(681)
    821
    
    Dead Zone Control: Zone(682)
    824
    
    Time-Proportional Output: Tpo(685)
    827
    
    Scaling: Scl(194)
    835
    
    Scaling 2: Scl2(486)
    840
    
    Scaling 3: Scl3(487)
    844
    
    Average: Avg(195)
    847
  - Subroutines
    851
    
    Subroutine Call: Sbs(091)
    851
    
    Macro: Mcro(099)
    857
    
    Subroutine Entry: Sbn(092)
    861
    
    Global Subroutine Call: Gsbs(750)
    864
    
    Subroutine Return: Ret(093)
    864
    
    Global Subroutine Entry: Gsbn(751)
    872
    
    Global Subroutine Return: Gret(752)
    875
  - Interrupt Control Instructions
    876
    
    Set Interrupt Mask: Msks(690)
    879
    
    Read Interrupt Mask: Mskr(692)
    886
    
    Clear Interrupt: Cli(691)
    891
    
    Disable Interrupts: DI(693)
    895
    
    Enable Interrupts: Ei(694)
    898
    
    Summary of Interrupt Control
    899
  - High-Speed Counter/Pulse Output Instructions
    904
    
    MODE CONTROL: INI(880) (CJ1M-CPU21/22/23 Only)
    904
    
    HIGH-SPEED COUNTER PV READ: PRV(881) (CJ1M-CPU21/22/23 Only)
    908
    
    Counter Frequency Convert: Prv2(883)
    914
    
    REGISTER COMPARISON TABLE: CTBL(882) (CJ1M-CPU21/22/23 Only)
    918
    
    SPEED OUTPUT: SPED(885) (CJ1M-CPU21/22/23 Only)
    922
    
    SET PULSES: PULS(886) (CJ1M-CPU21/22/23 Only)
    927
    
    PULSE OUTPUT: PLS2(887) (CJ1M-CPU21/22/23 Only)
    930
    
    ACCELERATION CONTROL: ACC(888) (CJ1M-CPU21/22/23 Only)
    936
    
    ORIGIN SEARCH: ORG(889) (CJ1M-CPU21/22/23 Only)
    943
    
    PULSE with VARIABLE DUTY FACTOR: PWM(891) (CJ1M-CPU21/22/23 Only)
    946
  - Step Instructions
    948
    
    STEP DEFINE and STEP START: STEP(008)/SNXT(009)
    949
  - Basic I/O Unit Instructions
    966
    
    I/O Refresh: Iorf(097)
    966
    
    Special I/O Unit I/O Refresh: Fiorf(225)
    969
    
    Cpu Bus Unit I/O Refresh: Dlnk(226)
    972
    
    7-Segment Decoder: Sdec(078)
    977
    
    Digital Switch Input - Dsw(210)
    980
    
    Ten Key Input - Tky(211)
    985
    
    Hexadecimal Key Input - Hky(212)
    988
    
    Matrix Input: Mtr(213)
    993
    
    7-Segment Display Output - 7Seg(214)
    997
    
    Intelligent I/O Read: Iord(222)
    1002
    
    Intelligent I/O Write: Iowr(223)
    1007
  - Serial Communications Instructions
    1012
    
    Serial Communications
    1012
    
    Protocol Macro: Pmcr(260)
    1014
    
    Transmit: Txd(236)
    1023
    
    Receive: Rxd(235)
    1033
Section 3-24 Serial Communications Instructions

1041
- Transmit Via Serial Communications Unit: Txdu(256)
  1045
- Port Name
  1051
  - Receive Via Serial Communications Unit: Rxdu(255)
    1053
- Reception Completed Flag
  1059
  - Overrun Error Flag
    1059
  - Reception Counter
    1059
  - Reception Overflow Flag
    1059
  - Change Serial Port Setup: Stup(237)
    1061
  - About SYSMAC NET Link/Sysmac LINK Operations
    1066
  - Network Instructions
    1066
  - About Explicit Message Instructions
    1079
  - Network Send: Send(090)
    1084
- Ports 1 Inner Board Service
  1086
  - Network Receive: Recv(098)
    1090
  - Deliver Command: Cmnd(490)
    1096
  - Explicit Message Send: Explt(720)
    1106
  - Explicit Get Attribute: Egatr(721)
    1114
  - Explicit Set Attribute: Esatr(722)
    1121
  - Explicit Word Read: Echrd(723)
    1127
  - Explicit Word Write: Echwr(724)
    1131
  - File Memory Instructions
    1135
  - Precautions When Using Memory Cards
    1135
  - Read Data File: Fread(700)
    1139
  - Write Data File: Fwrit(701)
    1146
  - Write Text File: Twrit(704)
    1153
  - Display Instructions: DISPLAY MESSAGE: MSG(046)
    1159
  - Calendar Add: Cadd(730)
    1162
  - Clock Instructions
    1162
  - Calendar Subtract: Csub(731)
    1166
  - Hours to Seconds: Sec(065)
    1169
  - Seconds to Hours: Hms(066)
    1171
  - Clock Adjustment: Date(735)
    1174
  - Debugging Instructions
    1176
  - Trace Memory Sampling: TRSM(045)
    1176
  - Failure Alarm: Fal(006)
    1180
  - Failure Diagnosis Instructions
    1180
  - Severe Failure Alarm: Fals(007)
    1188
  - Failure Point Detection: Fpd(269)
    1196
  - Other Instructions
    1205
  - Clear Carry: Clc(041)
    1206
  - Set Carry: Stc(040)
    1206
  - Select Em Bank: Embc(281)
    1207
  - Extend Maximum Cycle Time: Wdt(094)
    1209
  - Save Condition Flags: Ccs(282)
    1211
  - Load Condition Flags: Ccl(283)
    1213
  - Convert Address from CV: Frmcv(284)
    1214
  - Convert Address to CV: Tocv(285)
    1219
  - DISABLE PERIPHERAL SERVICING: IOSP(287) (CS1-H/CJ1-H/CJ1M Only)
    1223
  - ENABLE PERIPHERAL SERVICING: IORS(288) (CS1-H/CJ1-H/CJ1M Only)
    1225
  - Block Programming Instructions
    1226
  - Introduction
    1226
  - Block Program Begin/End: Bprg(096)/Bend(801)
    1231
  - Block Program Pause/Restart: Bpps(811)/Bprs(812)
    1233
  - Branching: if(802), else(803), and IEND(804)
    1236
  - Conditional Block Exit (Not): Exit (Not)(806)
    1239
  - One Cycle and Wait (Not): Wait(805)/Wait(805) Not
    1242
  - HUNDRED-MS TIMER WAIT: TIMW(813) and TIMWX(816)
    1246
  - COUNTER WAIT: CNTW(814) and CNTWX(818)
    1249
  - TEN-MS TIMER WAIT: TMHW(815) and TMHWX(817)
    1252
  - Loop Control: LOOP(809)/LEND(810)/LEND(810) NOT
    1255
  - Text String Processing Instructions
    1260
  - Text String Processing Overview
    1260
  - Mov String: Mov$(664)
    1261
  - Concatenate String: +$(656)
    1263
  - Get String Left: Left$(652)
    1266
  - Get String Right: Rght$(653)
    1268
  - Get String Middle: MID$(654)
    1270
  - Find in String: Find$(660)
    1273
  - String Length: Len$(650)
    1275
  - Replace in String: Rplc$(661)
    1277
  - Delete String: Del$(658)
    1280
  - Exchange String: Xchg$(665)
    1282
  - Clear String: Clr$(666)
    1285
  - Insert into String: Ins$(657)
    1286
  - String Comparison Instructions (670 to 675)
    1290
  - Task Control Instructions
    1295
  - Task On: Tkon(820)
    1295
  - Task Off: Tkof(821)
    1298
  - Model Conversion Instructions (Unit Ver. 3.0 or Later)
    1301
  - Block Transfer: Xferc(565)
    1303
  - Single Word Distribute: Distc(566)
    1306
  - Data Collect: Collc(567)
    1309
- Instruction Execution Times and Number of Steps
  
  1320
- Appendix
  
  1392
- Index
  
  1392
- Revision History
  
  1400

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