Prerequisites for AssistedDrive
AssistedDrive detection is only active during the following internal system states:
• Initial mode (closing, closed, opening and open)
• Normal mode (closing, partial closure, closed, opening, partial opening and open)
• Slow drive prole (DCMD – expansion bit "slow", see Table A-17 DCMD expansion bits
(Page 320))
If the system switches into one of the three system states, the signal ASDrv is always set to active.
The actual threshold analysis of the motor current starts after the parameterized switch-o delay
(p1230) and as soon as the value of the square of the dierence between the setpoint and actual
speeds falls below 70 mm/s.
The result of the analysis is output by the signal state ASDrv. The falling signal edge therefore
indicates that the support force has become too low. Assisted mode can be exited. This signal is
independent of the drive direction.
Note
The falling edge of the ASDRV signal can only be reached when the dierence between the
setpoint and actual speeds falls below the dened value. Therefore a speed and/or force
adjustment of the system may be required.
4.3.6 Automatic AssistedDrive
Function description
The automatic AssistedDrive system consists of the two detection systems, ImpulseDrive and
AssistedDrive.
In the process, on the one hand ImpulseDrive is used to generate a corresponding drive order
with normal driving prole. On the other hand, the drive order is canceled ("deenergized") with
the aid of AssistedDrive.
Automatic AssistedDrive evaluate the edges of the IMPDRVIncr, IMPRDRVVelo and ASDR signals
for this.
The automatic AssistedDrive system can only be used when the enable signal is active. The
enable signal for the automatic AssistedDrive system (DCMD: = 6) is an element of the DCMD
signal (see Table A-16 DCMD signal (Page 319)). This ensures the unambiguity of the active drive
order at all times.
SIDOOR functions
4.3 Extended functions
ATD4xxW for industrial applications
84 System Manual, 06/2022, A5E51901827B AA
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