Festo HGPPI Series, Instructions Manual

Page: 126 / 192

5. Programming
5−50
Festo P.BE−HGPPI−PB−E N en 0605NH
C as e Thre s hold re ac hed when
Setpoint position
ţ
actual position Actual force
Ţ
threshold
Setpoint position < actual position Actual force
ţ
threshold
Table5/35: Threshold monitoring
If the threshold is already exceeded at the beginning of the
command, then the bit is set from the beginning and force
control is activated immediately.
F u n c tion 16 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
Force threshold
gripper finger 1
P2.15
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
Force threshold
gripper finger 2
P2.16
Setpoint force
gripper finger 2
P2.12
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
Table5/36: Byte allocation: Position−dependent switching from position to force setpoint
value