Issue:
Set up Limit Switches and Position Sensors on the Altivar 900 Process Drives.

Product Line:
Altivar 900 Process Drive (ATV930, ATV950, ATV960, ATV980)

Environment:
All serial numbers for Altivar 900 Process Drive

Cause:
N/A

Resolution:
Limit Switches
This function allows the management of trajectory limits using limit switches
The stop mode is configurable. When the stop contact is activated, startup in the other direction is authorized.
Works best with Forward and Reverse Limit Switches.

Programming
[Complete settings] [Generic functions] [Limit switches]
Setup:

1. [Stop FW assign] LAF
2. [Stop RV assign] LAr
3. [Stop type] LAS

Refer to attached manual for more information

Positioning by Sensors
This function allows the management of slowing down of movement and stopping at the end of a trajectory using positioning sensors.
Sensors are used to slow down the object in reverse or forward direction
Works similar to Limit Switches but also allows user to configure speed as well as stopping

Programming
[Complete settings] [Generic functions] [Positioning by sensors]
Setup:

1. [Stop FW limit sw.] SAF
2. [Stop RV limit sw.] SAr
3. [Forward Slowdown] dAF
4. [Reverse Slowdown] dAr
5. [Disable limit sw.] CLS
6. [Stop type] PAS
7. [Deceleration type] dSF
8. [Stop distance] Std
9. [Nom linear speed] nLS
10. [Stop corrector] SFd
11. [Memo Stop] MStP
12. [Priority restart] PrSt

Reference attached manual for more information


Key Notes:
If the drive is configured for limit switches/positioning by sensors the sequence of operation has to be correct or else the drive will not function properly.
Drive may show "rdy" at times even though a run command is initiated on LI1
Look at the example table below

For instance, SAF = DI5 and SAL = High

DI1 (forward)	DI2 (reverse)	DI5 (FW limit switch)	Note
1	0	0	Motor is running forward
1	0	1	Motor is stopping
0	0	1	Sensor stays at high level
0	1	1	Motor is running reverse
0	1	0	Motor is running reverse
0	0	0	Motor is stopping
1	0	0	Motor is running forward

Now if you do the sequence below the drive will stay in ready:

DI1 (forward)	DI2 (reverse)	DI5 (FW limit switch)	Note
1	0	0	Motor is running forward
1	0	1	Motor is stopping
0	0	0	Sensor goes back to low level
0	1	0	Motor is running reverse
0	0	0	Motor is stopping
1	0	0	Drive stays in ready

The drive stays in ready as the behavior isn't coherent. The limit switch shouldn't have change of state, before reverse order.

Released for:Schneider Electric Canada