Festo HGPPI Series, Instructions Manual

Page: 98 / 192

5. Programming
5−22
Festo P.BE−HGPPI−PB−E N en 0605NH
Example: Gripper finger 1 is to be moved to position 5.2 mm.
Function 10 is suitable for positioning a single gripper finger.
The parameters of this function are described with Table5/26
in Section 5.5.3.
Ex a mple: Po s ition g ripper fin g er 1 to 5.2 mm.
Start byte
1)
Stop 1+2=1, Start=1,
Select 1 = 1
2)
00110110b = 36
h
Function no. Position one gripper finger 10
1st parameter Gripper finger 1 desired
position
3)
520
2nd parameter Position tolerance
4)
50
3rd parameter Unused 0
4th parameter Unused 0
1) The start byte contains bit−coded control information.
See Section 5.4.2.
2) Gripper finger 1 is selected by Select 1 = 1
3) Position values are always specified in 1/100 mm.
4) The position tolerance is defined as a percentage (1 ... 100%) of
the initialization parameter P1.0.
Table5/12: Positioning example
For execution, the PLC transfers these values to the output
data. The function number and start byte are summarised in
the first output word.