Festo HGPPI Series, Instructions Manual

Page: 93 / 192

5. Programming
5−17
Festo P.BE−HGPPI−PB−E N en 0605NH
5.3.4 Examples of offset selection
A gripper is always positioned relative to the workpiece. If the
workpiece is gripped from the outside, this is referred to as
an external gripping". If it is gripped with the gripper fingers
from the inside, it is referred to as an internal gripping".
No gripper finger offset, external gripping
1
Gripper finger 1
2
Gripper finger 2
1
2
Fig.5/5: Offset = 0
Positive offset of both gripper fingers,
external gripping
1
Gripper finger 1
2
Gripper finger 2
1 2
Fig.5/6: Offset > 0