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8.2 M-Code Output Function................................................................................................................... 8- 4
8.3 Backlash Compensation Function..................................................................................................... 8- 6
8.4 Torque Limit Function ....................................................................................................................... 8- 8
8.5 Electronic Gear Function.................................................................................................................. 8-10
8.6 Absolute Positioning System............................................................................................................ 8-12
8.7 Skip Function ................................................................................................................................... 8-15
8.8 Teaching Function............................................................................................................................ 8-16
8.9 High−Speed Reading of Designated Data ....................................................................................... 8-16
8.10 Servo Program Cancel/Start Function ........................................................................................... 8-17
8.11 Enhanced Current Value Control ................................................................................................... 8-19
APPENDICES ..................................................................................................................... APP- 1 to APP-71
APPENDIX1 SCPU ERROR CODE LIST .......................................................................................... APP- 1
1.1 SCPU Error Code List .............................................................................................................. APP- 1
APPENDIX2 ERROR CODES STORED BY THE PCPU .................................................................. APP- 5
2.1 Servo Program Setting Errors (Stored in D9190) ..................................................................... APP- 7
2.2 Minor Errors............................................................................................................................. APP-10
2.3 Major Errors............................................................................................................................. APP-17
2.4 Servo Errors ............................................................................................................................ APP-21
2.5 PC Link Communication Errors ............................................................................................... APP-35
2.6 LED Indications when Errors Occur at the PCPU ................................................................... APP-36
APPENDIX3 SPECIAL RELAYS AND SPECIAL REGISTERS ........................................................ APP-38
3.1 Special Relays (SP, M)............................................................................................................ APP-38
3.2 Special Registers (SP.D)......................................................................................................... APP-43
APPENDIX4 EXAMPLE PROGRAMS .............................................................................................. APP-53
4.1 Reading M-Codes.................................................................................................................... APP-53
4.2 Error Code Reading................................................................................................................. APP-54
4.3 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data ............... APP-55
APPENDIX 5 SETTING RANGE OF INDIRECTLY DESIGNATED DEVICES................................. APP-57
APPENDIX 6 PROCESSING TIMES ................................................................................................ APP-59
APPENDIX 7 ELECTRONIC GEAR SETTING EXAMPLES ............................................................ APP-68
− IV −
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