Festo HGPPI Series, Инструкция по эксплуатации

Страница: 79 / 192

5. Programming
5−3
Festo P.BE−HGPPI−PB−E N en 0605NH
5.1 I ntrod uc tion
During the connection set−up, the gripper is initialized by the
transfer of system parameters. This activates the closed−loop
controller and the gripper fingers assume their actual posi
tion under positional control.
The HGPPI−... provides various functions, which the user can
call up through his/her PLC. This includes positioning the
gripper finger, gripping with a defined force, opening, and
others.
To execute a function, the PLC must transfer a function num
ber, four associated setpoint values, and a start bit in the
output data. The combination of function number and certain
setpoint values is referred to as a ‘command’.
The HGPPI−... transfers a status word (acknowledge, malfunc
tion), four actual values (positions, forces) and a malfunction
number as its acknowledgement.
I /O d a t a
Word 1 2 3 4 5 6
O u tp u t d a t a Start bit +
Function no. 1st setpoint
value 2nd setpoint
value 3rd setpoint
value 4th setpoint
value
I np u t d a t a
Status word 1st actual
value 2nd actual
value 3rd actual
value 4th actual
value Malfunction
number
Table5/1: Command structure
Depending on the task, take a function, select the
allocation of the setpoint values from the tables starting
from Section 5.5.2, and transfer these as a command to
the gripper.