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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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