Festo HSP AE Series, Manual

Page: 111 / 174

5. Commissioning with the control panel
5−19
Festo P.BE−HSP−AE−IO−EN en 0510NH
5.5.1 Notes on parametrizing
Caution
Unexpected movement of the handling module
Note that existing settings of the nominal position and of
the insert torque can lead to unexpected positioning be
haviour after conversion of the absolute/relative position
ing. The nominal position refers to a new starting point
(zero point or current position).
·
Check the currently set nominal position under [Save]
after every modification to the absolute or relative
reference.
Recommendation:
·
Teach the nominal position again after modification to
the absolute or relative reference.
Nominal position
[Position] If your application requires (further) intermediate positions,
maximum 13 intermediate positions Pos 2 ... 14 can be
taught. Positions Pos 0 and Pos 1 can only be taught in
HSPmode (not via the positioning set table).
·
Select intermediate positions where possible in the linear
sections of the link guide. Due to the play of the curve roll
of the swivel lever, positioning in the curve sections of the
link guide is not reliable.
1
Non−linear
sections
2
Linear section in
the y−direction
3
Linear section in
the z−direction
1
2
3
3