Festo HGPPI Series, Instructions Manual

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1. System overview
1−5
Festo P.BE−HGPPI−PB−E N en 0605NH
1.3 Control of the HGPP I −... vi a the PROF I BUS
With the initial parameterization (initialization) of the
HGPPI−..., a series of parameters are transmitted from
the PROFIBUS−DP master for configuring the gripper. Among
these are some operational data (e.g. operating pressure),
a zero offset for adapting to various gripper finger shapes
and the maximum setpoint value limits.
In the operating phase, the PLC calls technological functions
implemented in the gripper. This ranges from simple func
tions to complex sequences.
With this, any sequences can be compiled. To execute these,
the PLC transmits the desired function number and the neces
sary parameters for execution (= nominal values) in the cyclic
I/O data.
5 words (10 bytes) of output data and 6 words of input data
are exchanged between the gripper and the PLC. The data are
defined as words and must be consistent over the full length.
The factory setting of the data format is the ‘Motorola format’
(the high−order byte first, and then the low−order one). The
data format can be changed to the ‘Intel format’.