Festo HGPPI Series, Instructions Manual

Page: 110 / 192

5. Programming
5−34
Festo P.BE−HGPPI−PB−E N en 0605NH
The table header contains the byte number in the first line,
after which the respective parameter is entered in the output
or input data.
Note
When using the S7 functional module, the setpoint values
are entered in DB5 and not directly in the output data.
Ex a mple
Gripper finger 2 is to be moved with function 10. In the
Table5/26, the second setpoint v alue line (Select1=0,
Select 2 = 1) must be selected.
The table indicates that the first setpoint value parameter
is P2.3 Desired position gripper finger 2". According to
Table5/5, the desired position of gripper finger 2 must be
given as int16 in 0.01 mm. The parameter is entered in the
output data in bytes 3 and 4.
The second setpoint value parameter is the position tole
rance factor" P2.8. According to Table5/5, the parameter is
indicated in % (of the position tolerance P1.0). The parameter
must be entered in bytes 5 and 6 of the output data.
The 3rd and 4th parameters (byte 7 ... 10) are not assigned.
A 0 must be transferred here.
The HGPPI−... transfers 1 ... 4 (last line) as actual values.
Table5/6 contains the associated parameter descriptions.
Bytes 3 and 4: Actual position P3.1 [0.01 mm]
gripper finger 1
Bytes 5 and 6: Actual position P3.2 [0.01 mm]
gripper finger 2
Bytes 7 and 8: Actual force P3.5 [0.1 N]
gripper finger 1
Bytes 9 and 10: Actual force P3.6 [0.1 N]
gripper finger 2