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7. Obstacle detection
When, after the teaching of the first complete, uninterrupted travel from one end
position to the other end position is carried out, the torque needed is learnt.
In any following complete, uninterrupted travel from end position to end position,
the torque needed is automatically readjusted. Slow changes in the installation due
to ageing, soiling, cold or heat are thus automatically taken into consideration.
This process takes place for both running directions independently of one another.
If a travel movement in up direction is blocked by an obstacle, the motor switches
off.
The running direction in which the obstacle was recognized is blocked. The block is
removed if the motor has been operated in the opposite direction for a certain time.
An obstacle must thus first be released before the motor can be operated again in
the direction of the obstacle.
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