Festo HGPPI Series, Instructions Manual

Page: 139 / 192

5. Programming
5−63
Festo P.BE−HGPPI−PB−E N en 0605NH
5.6.4 Two−finger command: Force−controlled gripping with fixed mid−position
The HGPPI−... is to grip a workpiece with a force of 40 N.
It should be moved so that a mid−position of 4.6 mm
is reached. The required function no. 31 is described in
Table5/40.
St a rt byte a t ri s in g ed g e
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Stop 2 Stop 1 Select 2 Select 1 Start
0 0 1 1 1 1 1 0
Table5/54: Start byte at rising edge
Ex a mple: For c e− c ontrolled g rippin g with fixed mid−po s ition
Start byte See above 0011.1110
b
3E
h
Function no. Force−regulated gripping with fixed mid−position 31 1F
h
1st parameter setpoint force [1/10 N] 400 0190
h
2nd parameter Desired centre position [1/100 mm] 460 01CC
h
3rd parameter Positioning tolerance [1%] 50 0032
h
4th parameter Not used 0 0000
h
Table5/55: Parameter allocation: Force−controlled gripping
O u tp u t d a t a for for c e− c ontrolled g rippin g with fixed mid−po s ition a t ri s in g s t a rtin g ed g e
1 s t word 2nd word 3rd word 4th word 5th word
Start FNo 1st parameter 2nd parameter 3rd parameter 4th parameter
3E
h
1F
h
01
h
90
h
01
h
CC
h
00
h
32
h
00
h
00
h
Table5/56: Output data