Festo HSP AE Series, Manual

Page: 103 / 174

5. Commissioning with the control panel
5−11
Festo P.BE−HSP−AE−IO−EN en 0510NH
End positions The end positions are calculated from the taught positions:
Pos0
+
a
0
)
D
01
Pos1
+
a
1
*
D
01
á
0
= stop of the pick position
á
1
= stop of the place position
The size−dependent offset is determined at the factory and
compensates mechanically caused deviations (e.g. by the
rubber buffers or by the gear play):
Offset HSP−12−AE−... HSP−16/25−AE−...
D
01
1° 2°
Software end positions The software end positions
á
min,
á
max
limit the positioning
range. During teaching in HSP mode the software end posi
tions will be newly defined:
a
min
+
Pos0
*
D
02
a
max
+
Pos1
)
D
02
Offset HSP−12−AE−... HSP−16/25−AE−...
D
02
K
5°
K
2°
Please note
If no teach procedure is carried out in HSP mode, the
software end positions are preset at the factory:
á
min
= −5°
á
max
= 205°