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    How to setup Limit Switches and Position Sensors on the Altivar 900 Process Drive.

    Issue:
    How to setup Limit Switches and Position Sensors on the Altivar 900 Process Drive.

    Product Line:
    Altivar 900 Process Drive (ATV930, ATV950, ATV960, ATV980)

    Environment:
    All serial numbers for Altivar 900 Process Drive

    Cause:
    N/A

    Resolution:
    Limit Switches 
    This function allows the management of trajectory limits using limit switches
    The stop mode is configurable. When the stop contact is activated, startup in the other direction is authorized. 
    Works best with Forward and Reverse Limit Switches.

    Programming
    [Complete settings] [Generic functions] [Limit switches]
    Setup:
    1. [Stop FW assign] LAF
    2. [Stop RV assign] LAr
    3. [Stop type] LAS
    Refer to attached manual for more information

    Positioning by Sensors
    This function allows the management of slowing down of movement and stopping oat the end of a trajectory using positioning sensors.
    Sensors ares used to slow down the object in reverse or forward direction
    Works similar to Limit Switches but also allows user to configure speed as well as stopping

    Programming
    [Complete settings] [Generic functions] [Positioning by sensors]
    Setup:
    1. [Stop FW limit sw.] SAF
    2. [Stop RV limit sw.] SAr
    3. [Forward Slowdown] dAF
    4. [Reverse Slowdown] dAr
    5. [Disable limit sw.] CLS
    6. [Stop type] PAS
    7. [Deceleration type] dSF
    8. [Stop distance] Std
    9. [Nom linear speed] nLS
    10. [Stop corrector] SFd
    11. [Memo Stop] MStP
    12. [Priority restart] PrSt
    Reference attached manual for more information


    Key Notes:
    If the drive is configured for limit switches/positioning by sensors the sequence of operation has to be correct or else the drive will not function properly. 
    Drive may show "rdy" at times even though a run command is initiated on LI1 
    Look at the example table below


    For instance, SAF = DI5 and SAL = High
    DI1 (forward) DI2 (reverse) DI5 (FW limit switch) Note
    1 0 0 Motor is running forward
    1 0 1 Motor is stopping
    0 0 1 Sensor stays at high level
    0 1 1 Motor is running reverse
    0 1 0 Motor is running reverse
    0 0 0 Motor is stopping
    1 0 0 Motor is running forward
     
    Now if you do the sequence below the drive will stay in ready:
    DI1 (forward) DI2 (reverse) DI5 (FW limit switch) Note
    1 0 0 Motor is running forward
    1 0 1 Motor is stopping
    0 0 0 Sensor goes back to low level
    0 1 0 Motor is running reverse
    0 0 0 Motor is stopping
    1 0 0 Drive stays in ready
     
    The drive stays in ready as the behavior isn't coherent. The limit switch shouldn't have change of state before reverse order.


     

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