4.3.9.6 Discrepancy analysis blocks................................................................................................ 99
4.3.9.7 Basic blocks ....................................................................................................................... 99
4.3.9.8 Frequency analysis blocks .................................................................................................. 99
4.3.9.9 On delay block ................................................................................................................. 100
4.3.9.10 Counter block .................................................................................................................. 100
4.3.9.11 Position function block (as of V1.12) ................................................................................ 101
4.3.9.12 Cold storage function block (as of V1.12) ......................................................................... 103
4.3.9.13 Specic door range of motion........................................................................................... 105
4.3.9.14 Emergency power mode .................................................................................................. 106
4.3.10 Basic parameter editor (as of V1.10)................................................................................. 106
4.3.11 Masking of door commands (as of V1.12) ........................................................................ 108
4.3.12 Test run (as of V1.12)....................................................................................................... 109
4.3.13 Operation as cold store door (as of V1.13)........................................................................ 110
4.4 Safety functions............................................................................................................... 112
4.4.1 Optional safety equipment............................................................................................... 112
4.4.1.1 Light barrier..................................................................................................................... 112
4.4.1.2 ESPE ................................................................................................................................ 114
4.4.1.3 Pressure-sensitive edge (SR) ............................................................................................. 115
4.4.1.4 Deactivation of the service buttons during emergency stop (as of V1.12).......................... 116
4.4.2 Security policy ................................................................................................................. 117
4.4.2.1 Safe force output ............................................................................................................. 117
4.4.2.2 Safe speed observance (energy limiting) .......................................................................... 117
4.4.2.3 Safe input signals according to PLd................................................................................... 117
4.4.2.4 Internal signal routing...................................................................................................... 118
4.4.2.5 Redundant antivalent signal logic with discrepancy analysis ............................................. 118
4.4.2.6 Frequency-based input signals ......................................................................................... 120
4.4.2.7 Two-hand operation concept (according to Cat. IIIA)......................................................... 120
4.4.2.8 Emergency stop concept in accordance with stop category 1 ............................................ 122
4.4.2.9 Concept of fail-safe digital control (door OPEN/CLOSE) with emergency stop via 3 digital
inputs.............................................................................................................................. 123
4.4.2.10 Learn run with emergency stop connection ...................................................................... 125
5 Controllers ......................................................................................................................................... 127
5.1 Description of controller................................................................................................... 127
5.2 Installing the control unit................................................................................................. 127
5.3 Wiring instructions........................................................................................................... 130
5.4 Connecting terminals....................................................................................................... 132
5.4.1 Digital input signals ......................................................................................................... 132
5.4.2 Voltage output................................................................................................................. 135
5.5 Relay and eldbus interfaces ............................................................................................ 136
5.5.1 Relay module................................................................................................................... 136
5.5.2 PROFIBUS......................................................................................................................... 139
5.5.2.1 PROFIBUS module ............................................................................................................ 139
5.5.2.2 Wiring and connecting PROFIBUS connectors.................................................................... 142
5.5.2.3 Wiring and connecting relay outputs ................................................................................ 143
5.5.2.4 PROFIBUS communication................................................................................................ 145
5.5.3 PROFINET......................................................................................................................... 149
5.5.3.1 PROFINET module ............................................................................................................ 149
5.5.3.2 Wiring and connecting a PROFINET connector .................................................................. 155
5.5.3.3 Wiring and connecting relay outputs ................................................................................ 156
Table of contents
ATD4xxW for industrial applications
System Manual, 06/2022, A5E51901827B AA 5
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