Festo HGPPI Series, Instructions Manual

Page: 124 / 192

5. Programming
5−48
Festo P.BE−HGPPI−PB−E N en 0605NH
Function 15: Position−dependent switching from
position to force setpoint value
Fig.5/16: Position−dependent switching from position to
force setpoint value
Description A gripper jaw is positioned (X). Once the desired position
(X’) has been reached, force control (F) is switched over.
With this command, there is no threshold monitoring with
the corresponding display of a threshold monitoring bit.
F u n c tion 15 p a r a meter s : Po s ition−dependent s wit c hin g from po s ition to for c e s etpoint
v a l u e
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 position
gripper finger 1
P2.2
Position tolerance
factor
P2.8
setpoint force
Gripper finger 1
P2.10
Select 1 = 0
Select 2 = 1 Setpoint position
gripper finger 2
P2.3 Position tolerance
factor
P2.8 setpoint force
gripper finger 2
P2.12