8.1.2 Limit switch output function ....................................................................................................... 8- 2
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-53
1.1 SCPU Error Code List .............................................................................................................. APP- 1
2.2 Minor Errors............................................................................................................................. APP-10
2.3 Major Errors............................................................................................................................. APP-16
2.4 Servo Errors ............................................................................................................................ APP-19
3.1 Special Relays (SP.M)............................................................................................................. APP-28
3.2 Special Registers (SP.D)......................................................................................................... APP-31
4.3 Reading M-Codes.................................................................................................................... APP-43
4.4 Error Code Reading................................................................................................................. APP-44
4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monior Data ................ APP-45
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