Festo HGPPI Series, Instructions Manual

Page: 104 / 192

5. Programming
5−28
Festo P.BE−HGPPI−PB−E N en 0605NH
5.4.4 Stop sequence
A stop command (reset stop bit) stops the current movement
sequence. The gripper goes into position control mode with
desired position = current actual position, whereby the posi
tion tolerance factor is set to 100%.
Each gripper jaw has its own stop bit.
1 2
Stop jaw 1
Stop active
Jaw 1
MC
Motion Complete
Fig.5/10: Sequential steps of the stop command
A c tion
no.
De sc ription
1
The stop bit in the control word is reset by the PLC/IPC.
In the case of a falling edge, the gripper executes the
following commands:
Switch to position control
Desired position = actual position
Position tolerance factor = 100%
Motion Complete" (MC) is reset.
The Stop active" bit is set.
2
After the PLC/IPC has received the reply Stop active" = 1,
the stop bit can be set back to 1" in the control word.
As soon as the status bit Motion Complete" has been reset
for the reply of the executed stop command, a new com
mand can be started and the status bit Stop active" is reset
(speed = 0, jaws in tolerance window).
Table5/20: Sequence description of stop command