Positioning Mode - Siemens SIDOOR ATD401W System Manual

SIDOOR functions
3.3 Extended functions
3.3.7

Positioning mode

Positioning mode serves to absolutely position the drive. The positioning system calculates a
travel profile for the optimum movement of the drive to the required target position on the
basis of the travel curve parameters and the current distance from the target position.
Positioning mode does not include any position control and operates with an accuracy of
1 cm. The source voltage brake is activated once the target position has been reached. After
the target position has been reached, the door can be moved ±2 cm out of the target position
before the drive returns to the target position. The positioning system operates with
hysteresis. The drive responds dynamically (including reversing) to changes in the target
position data while keeping to the values parameterized for force and energy limiting.
NOTICE
Obstruction detection
The obstruction detection system is not active in positioning mode (see section Obstruction
detection SIDOOR ATD4xxW (Page 71)).
Activation
Positioning mode can only be activated from normal mode and at standstill via the
"positioning" door command. It can be modified by the "NDG" and "slow" door command
extensions. The target position is transferred as the DESTPOS signal (see DESTPOS signal
(Page 289)) in technology control word 2 (TSW2) of the process image. The target position
is automatically limited to the learned door boundaries.
Sensors
Sensor signals are evaluated in positioning mode. You can find the response of the
controller/drive to the corresponding sensor signals in the section ESPE type 2 (Page 87) or
Pressure-sensitive edge (SR) (Page 89).
Motor protection
To protect the motor, a monitoring function is active that switches off (deenergizes) the drive
if the specified target position cannot be reached, e.g. due to an obstruction.
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ATD4xxW Door Controller for Industrial Applications
System Manual, 01/2017, A5E38080677-AB