Festo HGPPI Series, Instructions Manual

Page: 131 / 192

5. Programming
5−55
Festo P.BE−HGPPI−PB−E N en 0605NH
Function 32: Force−controlled gripping with fixed
mean position and pre−positioning
Fig.5/21: Force−controlled gripping with fixed mean position and pre−positioning
Description First, the gripper jaws are positioned to opening (xOeff ) and
mid−point (xM). Once pre−positioning is completed, gripping
force controlled (F) is switched over as the mid−position (xM)
settles.
F u n c tion 32 p a r a meter s : For c e− c ontrolled g rippin g with fixed me a n po s ition a nd
pre−po s itionin 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 = 1 Setpoint centre
position
P2.4
Setpoint opening
P2.5
Position tolerance
factor
P2.8
Setpoint gripping
force
P2.14
Actual values (gripper data
}
PLC)
Actual centre
position
P3.3
Actual opening
P3.4
Actual gripping
force
P3.7
Table5/41: Byte allocation: Force−regulated gripping with fixed centre position and
pre−positioning