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12.3.3 Near pass mode function ............................................................................................................. 12- 18
12.4 Functions to limit the control ............................................................................................................... 12- 22
12.4.1 Speed limit function ...................................................................................................................... 12- 22
12.4.2 Torque limit function ..................................................................................................................... 12- 24
12.4.3 Software stroke limit function ....................................................................................................... 12- 27
12.4.4 Hardware stroke limit function ..................................................................................................... 12- 33
12.5 Functions to change the control details .............................................................................................. 12- 35
12.5.1 Speed change function ................................................................................................................ 12- 35
12.5.2 Override function .......................................................................................................................... 12- 40
12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 42
12.5.4 Torque change function ............................................................................................................... 12- 45
12.6 Absolute position restoration function ................................................................................................ 12- 47
12.7 Other functions .................................................................................................................................... 12- 53
12.7.1 Step function................................................................................................................................. 12- 53
12.7.2 Skip function ................................................................................................................................. 12- 58
12.7.3 M code output function ................................................................................................................. 12- 60
12.7.4 Teaching function ......................................................................................................................... 12- 64
12.7.5 Command in-position function ..................................................................................................... 12- 69
12.7.6 Stepping motor mode function ..................................................................................................... 12- 72
12.7.7 Acceleration/deceleration processing function ............................................................................ 12- 75
12.7.8 Indirectly specification function .................................................................................................... 12- 78
13. COMMON FUNCTIONS 13- 1 to 13- 10
13.1 Outline of common functions ............................................................................................................. 13- 2
13.2 Parameter initialization function ......................................................................................................... 13- 3
13.3 Execution data backup function ........................................................................................................ 13- 5
13.4 LED display function .......................................................................................................................... 13- 7
13.5 Clock data function.............................................................................................................................. 13- 10
14. TROUBLESHOOTING 14- 1 to 14- 40
14.1 Troubleshooting when the "ERR" LED on the Master Module is Flashing ...................................... 14- 2
14.2 Error and warning details ................................................................................................................... 14- 4
14.3 List of errors ....................................................................................................................................... 14- 8
14.4 List of warnings ................................................................................................................................... 14- 34
14.5 Start during error history ..................................................................................................................... 14- 40
APPENDICES Appendix- 1 to Appendix- 62
Appendix 1 Change with Upgrade .................................................................................................. Appendix- 2
Appendix 2 External dimension drawing ........................................................................................ Appendix- 3
Appendix 3 Format sheets ............................................................................................................ Appendix- 4
Appendix 3.1 Positioning module operation chart .................................................................... Appendix- 4
Appendix 3.2 Parameter setting value entry table ..................................................................... Appendix- 6
Appendix 3.3 Positioning data setting value entry table ............................................................ Appendix- 12
Appendix 4 Positioning data (No. 1 to 100), List of buffer memory addresses ............................ Appendix- 13