Initial Run/Reference Run (Power On) - Siemens SIDOOR AT40 System Manual

Note
After the automatic AssistedDrive system has canceled a drive order on account of an
inadequate assisting force, ImpulseDrive detection becomes active again. However, the
ImpulseDrive lead time (p1220) must be taken into account. It directly affects the signal
chain of the automatic AssistedDrive system.
Note
Configuring ImpulseDrive and AssistedDrive detection directly affects the automatic
AssistedDrive system.
6.2.29

Initial run/reference run (Power ON)

Description of function
After Power ON, the controller is in initial mode. Initial mode is necessary because there is
no absolute value encoder. After Power ON, the controller must therefore verify the end
stops that have been previously learned (= reference run). As long as both end stops have
not been verified by reaching them, the drive only moves with a decelerated travel profile
(initial travel profile). Force limitation is active in accordance with the learned parameters
(friction compensation is active).
● The speed of the initial run is defined by the parameters p3667 and p3671.
● Force limitation during the initial run is defined by the parameters p3682 and p3683.
After Power ON, the sequential control system is in the "S1:Z_switching on inhibited" state
(see Sequential control (Page 216)).
Using an end position sensor
You can skip initial mode by connecting a DCOPS end position sensor (Door
Closed/Opened Position Sensor). Depending on the application, 1 end position sensor can
be used in the open or closed position or 2 end position sensors can be used in both end
positions. The responsibility for verification of the learned end positions is thus transferred to
the user (see Section DCOPS (door closed/opened position sensor) (Page 42)).
AT40, ATD400V, ATD400K, ATD4xxW, ATD400S, ATE250S, ATD400T
System Manual, 06/2016, A2B00096162-AN
Controllers
6.2 Drive functions
71