Festo HGPPI Series, Instructions Manual

Page: 100 / 192

5. Programming
5−24
Festo P.BE−HGPPI−PB−E N en 0605NH
5.4.2 Control word and status word
Control word / s t a t us word
Word no. in telegram 1
Byte no. in telegram 1 2
Output data Start byte Function no.
Input data Status word
Table5/15: Control word and status word
The start byte is for controlling the gripper by either putting it
into action or stopping it.
St a rt byte
Bit De sc ription Comment
Bit 0 Reserved
Bit 1 Start A rising edge starts the command
Bit 2 Select 1 Select gripper finger 1
(command is executed for gripper finger 1)
Bit 3 Select 2 Select gripper finger 2
(command is executed for gripper finger 2)
Bit 4 Stop 1 Stop active for gripper jaw 1
(active at 0 signal)
Bit 5 Stop 2 Stop active for gripper jaw 2
(active at 0 signal)
Bit 6 Reserved −
Bit 7 Reserved −
Table5/16: Start byte