Festo HGPPI Series, Instructions Manual

Page: 89 / 192

5. Programming
5−13
Festo P.BE−HGPPI−PB−E N en 0605NH
1
Gripper finger 1
2
Gripper finger 2
3
Gripper jaw 1
4
Gripper jaw 2
P0
A B
1 2
3 4
P1 P2
Fig.5/2: HGPPI Coordinate system Offset
Dimen s ion s De s i g n a tion De sc ription
P0 Gripper zero point Reference point for all dimension specifications
P1 Gripping point gripper finger 1 A fixed point on the gripper finger, arbitrarily
defined by the user
P2 Gripping point gripper finger 2
defined by the user.
A Offset gripper finger 1 Offset between gripper zero point and gripping point
on the gripper finger = distance of the gripping point
B Offset gripper finger 2
on the gripper finger distance of the gripping point
on the gripper finger to the gripper zero point when
the gripper jaws 1/2 are completely retracted
Table5/7: Coordinate system Offset
Note
The desired position limits in the system parameters should
be defined independent of the (shiftable) offset. For this
reason, the setpoint value limits should always be specified
in jaw coordinates. The controller checks the setpoint value
limits accordingly only
a fter the offset has been calculated.