Festo HGPPI Series, Instructions Manual

Page: 121 / 192

5. Programming
5−45
Festo P.BE−HGPPI−PB−E N en 0605NH
F u n c tion 13 p a r a meter s : For c e c ontrol with po s ition monitorin g
Gripper
fin
g er
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10
fin g er
s ele c tion
1 s t p a r a meter 2nd p a r a meter 3rd p a r a meter 4th p a r a meter
Setpoint values (PLC data
}
gripper)
Select 1 = 1
Select 2 = 0 Setpoint force
gripper finger 1
P2.10
Position threshold
gripper finger 1
P2.6
Select 1 = 0
Select 2 = 1 Setpoint force
gripper finger 2
P2.12
Position threshold
gripper finger 2
P2.7
Actual values (gripper data
}
PLC)
Actual position
gripper finger 1
P3.1
Actual position
gripper finger 2
P3.2
Actual force
gripper finger 1
P3.5
Actual force
gripper finger 2
P3.6
Table5/31: Byte allocation: Force control with position monitoring