8.2 M-Code Output Function................................................................................................................... 8- 4
8.4 Torque Limit Function ....................................................................................................................... 8- 8
8.5 Electronic Gear Function.................................................................................................................. 8-10
8.7 Skip Function ................................................................................................................................... 8-15
8.8 Teaching Function............................................................................................................................ 8-16
APPENDICES ..................................................................................................................... APP- 1 to APP-71
1.1 SCPU Error Code List .............................................................................................................. APP- 1
2.2 Minor Errors............................................................................................................................. APP-10
2.3 Major Errors............................................................................................................................. APP-17
2.4 Servo Errors ............................................................................................................................ APP-21
3.1 Special Relays (SP, M)............................................................................................................ APP-38
3.2 Special Registers (SP.D)......................................................................................................... APP-43
4.1 Reading M-Codes.................................................................................................................... APP-53
4.2 Error Code Reading................................................................................................................. APP-54
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