Siemens SIDOOR AT40 System Manual page 64

Controllers
6.2 Drive functions
Slow obstruction approach
The position of the last obstruction in the drive direction is automatically stored in the system.
The speed is automatically reduced to the corresponding creep speed (p3670 or p3666) on
approaching this position. The system calculates a braking ramp so that the reduced speed
is reached at the set distance (parameter p3855 or p3872) from the stored position of the
obstruction. If the obstruction can be overcome, the system adjusts the speed after the same
distance back to the "normal" driving curve.
Slow obstruction approach can be activated or deactivated for each drive direction in
parameter p3850.
Wait mode
Wait mode is activated according to the configurations of the overcome obstruction system
and the obstruction reversing system. If the system is in wait mode, this is ended any
external change to a drive order. Wait mode is signaled by the process data signal
"DBLCWAIT" (see "Table 6-84 DBLCWAIT signal (Page 211)").
Note
If the parameters p3860 and p3864, or p3877 and p3881 are set to "0", the signal
DBLCWAIT becomes active immediately after an obstruction is detected.
Expert configuration
The obstruction detection system has been designed so that it can be adapted to the widest
range of system environments, structures and properties. The following parameters are
mainly provided for such adaptations, and have to be changed for standard systems.
Parameter assignment
● Function configuration
Stop and force obstruction detection can be deactivated for each drive direction in
parameter p3850 (bits 0 and 1, and 4 and 5 respectively). The counting of obstructions
can also be suppressed for each drive direction (bits 2 and 5).
● Lead times
After a drive order is changed or the direction of motion is reversed, the obstruction
detection is activated after a variable ON-delay time (p3852 and p3869).
● Range restriction
Obstruction detection is suppressed in a variable range before reaching the relevant end
stop (p3856 and p3873).
It is also suppressed after leaving the relevant end stop (p3857 and p3874).
Force obstruction detection, in particular, is suppressed before the creep distance (p3858
and p3875). It is suppressed in a variable range after the last obstruction (p3859 and
p3876).
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AT40, ATD400V, ATD400K, ATD4xxW, ATD400S, ATE250S, ATD400T
System Manual, 06/2016, A2B00096162-AN