Festo HGPPI Series, Инструкция по эксплуатации

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5. Programming
5−56
Festo P.BE−HGPPI−PB−E N en 0605NH
Function 33: Force−controlled movement
Fig.5/22: Force−controlled movement
Description The gripper moves to a defined mid−position (xM) as the
gripping force (F) settles. Hereby, a speed factor (s) is speci
fied, which defines the percentage of the maximum speed is
to be incurred.
At the end of function 33, the speed factor is set to 100% again
so that the standard setting for all other functions is 100%.
F u n c tion 33 p a r a meter s : For c e− c ontrolled movement
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 = 1 Setpoint gripping
force
P2.14
Setpoint
mid−position
P2.4
Position tolerance
factor
P2.8
Speed factor
P2.9
Actual values (gripper data
}
PLC)
Actual centre
position
P3.3
Actual opening
P3.4
Actual gripping
force
P3.7
Table5/42: Byte allocation: Force−controlled movement