Festo HGPPI Series, Instructions Manual

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5. Programming
5−15
Festo P.BE−HGPPI−PB−E N en 0605NH
5.3.2 Alignment
1
Gripper finger 1
2
Gripper finger 2
P0
X2+
1 2
F2+
F1+ X1+
X
M+
Fig.5/4: HGPPI Gripper Coordinate system Alignment
De s i g n a tion Ori g in Rem a rk s
Position gripper
finger 1 Gripper zero point Position values become larger towards the outside (X1+)
Position gripper
finger 2 Gripper zero point Position values become larger towards the outside (X2+)
Mid−point of the
gripper fingers
(centre position) Gripper zero point The position values become larger from gripper jaw
2 toward gripper jaw 1 (X
M+
)
}
Positive position values: Toward gripper jaw 1
}
Negative position values: Toward gripper jaw 2
Force gripper 1 Gripper is free Positive forces act toward the inside (F1+) toward the
gripper zero point
Force gripper 2 Gripper is free Positive forces act toward the inside (F2+) toward the
gripper zero point
Table5/9: Coordinate system alignment