Festo HGPPI Series, Instructions Manual

Page: 125 / 192

5. Programming
5−49
Festo P.BE−HGPPI−PB−E N en 0605NH
Gripper
fin
g er
s ele c tion
4th p a r a meter 3rd p a r a meter 2nd p a r a meter 1 s t p a r a meter
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
Table5/34: Byte allocation: Position−dependent switching from position to force setpoint
value
Function 16: Force−dependent switching from
position to force setpoint value
Fig.5/17: Force−dependent switching from position to force
setpoint value
Description A gripper jaw is positioned (X). Once the defined force
threshold (F’) is reached during positioning, the correspon
ding bit is set in the status word (depending on the activa
ted gripper jaw, either bit 4 or bit 10) and force control (F)
is switched over. After reaching the target position, the
threshold monitoring function is deactivated again. The dis
play value of the bit remains as it is until the next command.
The following cases apply for the threshold monitoring
function: