Festo HGPPI Series, Instructions Manual

Page: 120 / 192

5. Programming
5−44
Festo P.BE−HGPPI−PB−E N en 0605NH
Function 13: Force control with position
monitoring
Fig.5/14: Force control with position monitoring
Description A gripper jaw is force−controlled (F). Once the defined
position threshold (X’) is reached during force−control, the
corresponding bit is set in the status word (depending on
the activated gripper jaw, either bit 4 or bit 10). The thres
hold monitoring function remains active, even after the
setpoint force is reached, until a new command is entered.
The following cases apply for the threshold monitoring
function:
C as e Thre s hold re ac hed when
Setpoint force
ţ
0 Actual position
Ţ
threshold
Setpoint force < 0 Actual position
ţ
threshold
Table5/30: Threshold monitoring
If the threshold is already exceeded at the beginning of the
command, then the bit is set from the beginning.