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Does the ATV58 have sleep and wake up modes?

Yes. There is a Low Speed Run Time adjustment (tLS) in menu 2 (SEt).
After operation at LSP for the amount of time (seconds) defined by tLS, the motor is automatically commanded to stop. The motor restarts if the frequency reference is greater than LSP, if a run command continues to be present.
A setting of 0 means that the tLS function is not being used and, the drive will continue to run as commanded.
There are no settings for wake up. It simply starts to run again when the speed reference exceeds the LSP value.
This tlS is commonly used in combination with PI control. It can be used even if PI control is not used.

CTA-ID : 2031174
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