INTRODUCTION ............................................................................................................................................ A-14

REVISIONS .................................................................................................................................................... A-15

CONTENTS .................................................................................................................................................... A-16

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES ....................................................... A-23

RELEVANT MANUALS ................................................................................................................................. A-23

MANUAL PAGE ORGANIZATION ................................................................................................................ A-25

TERMS ........................................................................................................................................................... A-26

PACKING LIST ............................................................................................................................................... A-27

Section 1

Product Specifications and Handling

1. Product Outline

1.1 Positioning control .................................................................................................................................... 1- 2

1.1.1 Features of QD77GF......................................................................................................................... 1- 2

1.1.2 Purpose and applications of positioning control ............................................................................... 1- 5

1.1.3 Mechanism of positioning control ..................................................................................................... 1- 7

1.1.4 Overview of positioning control functions ......................................................................................... 1- 8

1.1.5 Outline design of positioning system ................................................................................................ 1-18

1.1.6 Communicating signals between QD77GF and each module ........................................................ 1-19

1.2 Flow of system operation ......................................................................................................................... 1-22

1.2.1 Flow of all processes ......................................................................................................................... 1-22

1.2.2 Outline of starting .............................................................................................................................. 1-24

1.2.3 Outline of stopping ............................................................................................................................ 1-26

1.2.4 Outline for restarting .......................................................................................................................... 1-28

2. System Configuration

2.1 General image of system ......................................................................................................................... 2- 2

2.2 Component list ......................................................................................................................................... 2- 3

2.3 Applicable system .................................................................................................................................... 2- 5

2.4 How to check the function version and SERIAL No. .............................................................................. 2- 7

2.5 Restrictions by the SERIAL No. and version. ......................................................................................... 2- 8

3. Specifications and Functions

3.1 Performance specifications ...................................................................................................................... 3- 2

3.2 List of functions ....................................................................................................................................... 3- 4

3.2.1 QD77GF control functions ................................................................................................................ 3- 4

3.2.2 QD77GF main functions ................................................................................................................... 3- 7

3.2.3 QD77GF sub functions ..................................................................................................................... 3- 9

3.2.4 QD77GF common functions ............................................................................................................. 3-11

3.2.5 Combination of QD77GF main functions and sub functions ........................................................... 3-12

3.3 Specifications of input/output signals with PLC CPU ............................................................................. 3-14

3.3.1 List of input/output signals with PLC CPU ........................................................................................ 3-14

CONTENTS

A - 16

1- 1 to 1-28

2- 1 to 2- 8

3- 1 to 3-34