Festo HGPPI Series, Инструкция по эксплуатации

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5. Programming
5−41
Festo P.BE−HGPPI−PB−E N en 0605NH
Function 11: Force control
Fig.5/12: Force control
Description Both gripper jaws can be individually (or also
simultaneously, if desired) force−controlled (F).
F u n c tion 11 p a r a meter s : For c e c ontrol
Gripper
fin
g er
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10
fin g er
s ele c tion
1 s t p a r a meter 2nd p a r a meter 3rd p a r a meter 4th p a r a meter
Setpoint values (PLC data
}
gripper)
Select 1 = 1
Select 2 = 0 Setpoint force
gripper finger 1
P2.10
Select 1 = 0
Select 2 = 1 Setpoint force
gripper finger 2
P2.12
Select 1 = 1
Select 2 = 1 Setpoint force
gripper finger 1
P2.10
Setpoint force
gripper finger 2
P2.12
Actual values (gripper data
}
PLC)
Actual position
gripper finger 1
P3.1
Actual position
gripper finger 2
P3.2
Actual force
gripper finger 1
P3.5
Actual force
gripper finger 2
P3.6
Table5/27: Byte allocation: Force regulation