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5. Programming

5−17

Festo P.BE−HGPPI−PB−E N en 0605NH

5.3.4

Examples of offset selection

A  gripper  is  always  positioned  relative  to  the  workpiece.  If  the
workpiece  is  gripped  from  the  outside,  this  is  referred  to  as
an  external  gripping".  If  it  is  gripped  with  the  gripper  fingers
from  the  inside,  it  is  referred  to  as  an  internal  gripping".

No gripper finger offset, external gripping

1

Gripper finger 1

2

Gripper finger 2

1

2

Fig.5/5:

Offset = 0

Positive offset of both gripper fingers,
external gripping

1

Gripper finger 1

2

Gripper finger 2

1

2

Fig.5/6:

Offset > 0

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Содержание HGPPI Series

Страница 1: ...Instructions Parallel gripper Type HGPPI Fieldbus connection PROFIBUS DP per EN 50170 Instructions 543 300 en 0605NH 697 811 Parallel gripper ...

Страница 2: ......

Страница 3: ... Republic of Germany 2006 Internet http www festo com E Mail service_international festo com The reproduction of this document and disclosure to third parties and the utilisation or communication of its contents without explicit authorization is prohibited Violations give risetocompensation Allrightsarereserved in particularthe right to carry out patent utility model or ornamental design registrat...

Страница 4: ...ontents and general safety instructions II Festo P BE HGPPI PB EN en 0605NH PROFIBUS PROFIBUS DP are registered trade marks of Profibus International P I SIMATIC is a registered trade name of Siemens AG ...

Страница 5: ...1 3 Control of the HGPPI via the PROFIBUS 1 5 1 3 1 I O signals 1 6 2 Mounting 2 1 2 1 Mounting the HGPPI 2 3 2 2 Mounting the gripper fingers 2 4 2 3 Mounting the parallel gripper 2 5 2 3 1 Direct mounting 2 5 2 3 2 Dovetail mounting 2 6 3 Installation 3 1 3 1 General installation instructions 3 3 3 2 Connecting the pneumatic tubing 3 4 3 3 Connecting the power supply 3 5 3 4 Connecting to the fi...

Страница 6: ...s module 4 28 4 5 5 Watchdog monitoring 4 30 4 5 6 FREEZE and SYNC 4 31 4 6 Commissioning on the fieldbus 4 32 5 Programming 5 1 5 1 Introduction 5 3 5 2 Parameters 5 4 5 2 1 System parameters 5 5 5 2 2 Setpoint value parameters 5 9 5 2 3 Actual value parameters 5 10 5 3 Gripper coordinate system 5 11 5 3 1 Definition of the coordinate system 5 12 5 3 2 Alignment 5 15 5 3 3 Conversion between coor...

Страница 7: ...shooting 6 1 6 1 General notes on diagnosis 6 3 6 2 On the spotdiagnosis 6 4 6 2 1 Error evaluation Error LED 6 5 6 3 Diagnosis via PROFIBUS DP 6 7 6 3 1 Diagnosis by evaluating the cyclical I O data 6 7 6 3 2 Device related diagnosis 6 8 6 3 3 Analysis of the diagnostic information with a PLC IPC 6 11 6 3 4 Analysis of the diagnosis using the commissioning software 6 12 6 4 Malfunctions and troub...

Страница 8: ...e 7 1 7 1 Introduction 7 3 7 1 1 Project overview 7 3 7 1 2 Functional description 7 6 7 2 Module descriptions 7 8 7 2 1 Data module HGPPI_COMMAND LIST 7 8 7 2 2 Functional module HGPPI_CONTROL 7 11 A Technical appendix A 1 A 1 Technical data A 3 A 2 Data types A 6 A 2 1 Int16 A 6 A 2 2 Uint16 A 7 B Index B 1 ...

Страница 9: ...conversions or modifications described in the documentation supplied with the product are permitted in perfect technical condition The limits specified for pressures temperatures electrical data torques etc must be observed If conventional accessory components such as sensors and actuators are connected the specified limits for pressures temperatures electrical data moments etc must not be exceede...

Страница 10: ...iagnosing PROFIBUS DP stations Service Please consult your local Festo service facility if you have any technical problems Notes regarding this manual This description contains specific information on the assembly installing and commissioning programming and diagnosing of the HGPPI for PROFIBUS DP in accor dance with EN 50170 Additional information on the PROFIBUS DP can be found in PROFIBUS DP co...

Страница 11: ... A distinction is made between the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or material damage Caution This means that failure to observe this instruction may result in personal injury or material damage Note This means that failure to observe this instruction may result in material damage The following pictogram ma...

Страница 12: ...commendations tips and references to other sources of information Accessories Information on necessary or useful accessories for the Festo product Environment Information on the environment friendly use of Festo products Text markings The bullet point indicates activities which may be carried out in any order 1 Figures denote activities which must be carried out in the sequence specified Arrowhead...

Страница 13: ...gment Bus cable between two terminating resistors A bus segment contains a maximum of 32 stations A PROFIBUS DP system consists of at least one bus segment with at least two stations Further bus segments can be connected using repeaters I Digital input I Os Digital inputs and outputs GSD file Device master data file in which all specific features of the slave are stored e g number of I Os number o...

Страница 14: ...tion Meaning PROFIBUS address Serves for the unique identification of a bus station on the PROFIBUS Repeater Equipment for amplifying bus signals and for coupling segments over long distances PLC IPC Programmable logic controller industrial PC Tab 0 1 Product specific terms and abbreviations ...

Страница 15: ...System overview 1 1 Festo P BE HGPPI PB EN en 0605NH Chapter 1 ...

Страница 16: ...w 1 2 Festo P BE HGPPI PB EN en 0605NH Contents 1 System overview 1 1 1 1 System structure 1 3 1 2 Connection and display components of the HGPPI 1 4 1 3 Control of the HGPPI via the PROFIBUS 1 5 1 3 1 I O signals 1 6 ...

Страница 17: ...r to be coupled to the PROFIBUS DP 1 2 3 1 Higher order controller PROFIBUS DP master 2 Programmer PC 3 HGPPI Fig 1 1 HGPPI on the PROFIBUS DP example Data between the PROFIBUS DP master and the fieldbus slave is exchanged in accordance with the master slave procedure This allows for a very fast cyclical exchange of data ...

Страница 18: ... connecting components of the parallel gripper type HGPPI 1 Error LED red 2 Power LED green 3 Power supply M12x1 4 pin 4 Fieldbus connection Sub D 9 pin 5 Pneumatic connection Supply air 6 Pneumatic connection Exhaust air 7 Earth terminal 8 Cover of the addressing switches 9 BF LED red 1 2 3 4 5 6 7 8 9 Fig 1 2 Display and connecting components ...

Страница 19: ...C calls technological functions implemented in the gripper This ranges from simple func tions to complex sequences With this any sequences can be compiled To execute these the PLC transmits the desired function number and the neces sary parameters for execution nominal values in the cyclic I O data 5 words 10 bytes of output data and 6 words of input data are exchanged between the gripper and the ...

Страница 20: ...ignals 1 2 3 4 17 words 5 words 6 words User program Output Input Initializationparameters Setpointvalues in user coordinates Actual values in user coordinates PLC IPC 1 DP master user program 2 Controller 3 Program start data 4 HGPPI Fig 1 3 Internal sequence control ...

Страница 21: ...d para meter 3rd para meter 4th para meter Input data Status word 1st para meter 2nd para meter 3rd para meter 4th para meter Error word Table 1 1 Word sequence of the output data The structure of the data format is summarized in the following table Data format Motorola format Bit 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Byte First byte Second byte Word Word n Table 1 2 Data format ...

Страница 22: ...1 System overview 1 8 Festo P BE HGPPI PB EN en 0605NH ...

Страница 23: ...Mounting 2 1 Festo P BE HGPPI PB EN en 0605NH Chapter 2 ...

Страница 24: ...2 Festo P BE HGPPI PB EN en 0605NH Contents 2 Mounting 2 1 2 1 Mounting the HGPPI 2 3 2 2 Mounting the gripper fingers 2 4 2 3 Mounting the parallel gripper 2 5 2 3 1 Direct mounting 2 5 2 3 2 Dovetail mounting 2 6 ...

Страница 25: ...d operating voltage supplies on the HGPPI Caution The HGPPI may be damaged if it is not handled properly When the gripper housing is open Do not touch any components Observe the handling specifications for electrostatic sensitive devices Note Steel parts or magnetic fields near the HGPPI can impair the displacement measurement so that the technical data with regard to positioning accuracy cannot b...

Страница 26: ...as follows 1 Switch off the compressed air supply and the operating voltage 2 Attach the gripper fingers to the gripper jaws with the centring pins The maximum allowed tightening torque of the mounting screws is 1 2 Nm 1 Mounting screws M3 2 Gripper finger 3 Centring pin Ø2 4 Gripper jaw 2 3 4 1 Fig 2 1 Mounting the gripper fingers ...

Страница 27: ...tes 2 3 1 Direct mounting 1 Switch off the compressed air supply and the operating voltage supply 2 Attach the parallel gripper with the aid of centring sleeves if necessary The maximum allowed tightening torque of the four mounting screws is 2 9 Nm Note In the direct mounting non ferromagnetic screws must be used to prevent the displacement measurement from being affected ...

Страница 28: ... 2 2 Direct mounting of the HGPPI 2 3 2 Dovetail mounting 1 Switch off the compressed air supply and the operating voltage supply 2 Attach the parallel gripper with the aid of an adapter kit e g type HAVB and an adapter plate e g type HAPG The maximum allowed tightening torque of the mounting screws is 5 9 Nm ...

Страница 29: ...2 Mounting 2 7 Festo P BE HGPPI PB EN en 0605NH 1 Parallel gripper HGPPI 2 Adapter kit 3 Adapter plate 4 Mounting screws 4 3 2 1 Fig 2 3 Dovetail mounting of the HGPPI ...

Страница 30: ...2 Mounting 2 8 Festo P BE HGPPI PB EN en 0605NH ...

Страница 31: ...Installation 3 1 Festo P BE HGPPI PB EN en 0605NH Chapter 3 ...

Страница 32: ... Installation 3 1 3 1 General installation instructions 3 3 3 2 Connecting the pneumatic tubing 3 4 3 3 Connecting the power supply 3 5 3 4 Connecting to the fieldbus 3 8 3 5 Connecting of the HGPPI via a branch line 3 13 3 6 Fibre optic cable FOC connection 3 14 ...

Страница 33: ...ly 2 Line voltage supply of the HGPPI internal electronics Caution Pressures above 6 bars can destroy internal components Observe the permissible operating pressure range Note Please note that the maximum permitted bus length depends on the baud rate The allocation of the baud rate to the bus length can be found in Table 3 3 A bus segment is a bus cable which may contain up to 32 stations devices ...

Страница 34: ...ws 1 Switch off the compressed air supply and the operating voltage 2 Screw in the tubing fitting silencer tightening torque in accordance with the fitting max 1 2 Nm 3 Connect the tubing to the HGPPI 1 Connecting thread supply air e g for tubing fitting QSM M3 4 2 Connecting thread exhaust air e g for silencer U M3 1 2 Fig 3 1 Pneumatic connection ...

Страница 35: ...l isolation of the operating voltage in accordance with IEC DIN EN 60204 1 By using PELV circuits protection against electric shock protection against direct and indirect contact is guaranteed in accordance with IEC DIN EN 60204 1 electrical machine equipment general requirements Note Check within the framework of your EMERGENCY STOP circuit to ascertain the measures necessary for putting your mac...

Страница 36: ...supply connection Pin Signal Description Cable colour 1 1 24 V DC Logic voltage BN brown 2 24 V DC Load voltage WH white 3 0 V Logic load BU blue 4 Screen 2 Connection to housing BK black 1 when using the connecting cable SIM M12 with maximum cable length 10 m 2 Connection to the housing via a 1 MOhm resistor Table 3 1 Pin allocation ...

Страница 37: ...earth terminal to the earth potential with low impedance short cable with large cross sectional area The self tapping screw establishes the connection to the housing through the product coating You can thereby avoid interference from electromagnetic sources and ensure electromagnetic compatibility in accordance with EMC guidelines Fig 3 3 Earthing ...

Страница 38: ...tension of the fieldbus line Fig 3 4 PROFIBUS DP interface X 20 Pin Signal Description 1 2 3 4 5 6 7 8 9 Housing Earth n c RxD TxD P CNTR P DGND VP n c RxD TxD N n c Screen Direct connection to the housing Not connected Received transmitted data P Repeater control signal TTL level Data reference potential Positive supply voltage P5V Not connected Received transmitted data N Not connected Direct co...

Страница 39: ...pedance 135 165 Ohm 3 20 MHz Capacitance per unit length 30 nF km Loop resistance 110 Ohm km Wire cross section 0 34 mm2 Maximum permitted segment length of the fieldbus Baud rate in kBaud Max permitted segment length in m in accordance with PNO 1 9 6 19 2 93 75 187 5 500 1500 3000 12000 1200 1200 1200 1000 400 200 100 1 PNO PROFIBUS user organization Table 3 3 Allocation of maximum segment length...

Страница 40: ...2 MBaud 4 pin terminalforwiresupto1 5 mm 2 Table 3 4 Plug without terminating resistor If you require a terminating resistor use special bus connec tion plugs for PROFIBUS e g the following 9 pin plug from Siemens AG or from ERNI Order number of Siemens AG Description 6ES7 972 0BA10 0XA0 Connectable terminating resistor vertical cable outlet Transmission rate 9 6 kBaud 12 Mbaud 4 pinterminalforwir...

Страница 41: ...g with terminating resistor manufactured by ERNI Connecting the bus cable Always connect the same wires to the same connection A or B of the 4 pin terminal Recommendation B RxD TxD P A RxD TxD N Make sure that the cable screening lies uninsulated under the screen clamp Please observe if necessary the instructions enclosed with the plug 1 4 pin terminal 2 Cable screening 1 2 B O B O Fig 3 5 Sub D p...

Страница 42: ... Recommendation Use plugs with a built in terminating resistor if the HGPPI is connected to the end of a bus segment If necessary connect the terminating resistor The following diagram shows the arrangement of the terminating resistor combination of line A in accordance with EN 50 170 1 Pin 6 Supply voltage 2 Pin 3 RxD TxD P 3 Pin 8 RxD TxD N 4 Pin 5 DGND Pin 6 Pin 3 Pin 8 Pin 5 390 220 390 1 2 3 ...

Страница 43: ...ion cable Note If the connection of the HGPPI via a branch line cannot be avoided Do not connect the branch lines with a terminating resistor Please note that the permitted segment length will be reduced by the length of the branch line Please note the maximum permitted branch line lengths Baud rate in kBaud Maximum permitted branch line length in m 9 6 19 2 93 75 187 5 500 1500 3000 12000 500 500...

Страница 44: ...h transmission rates are used This offers the following additional advantages High EMC and ESD protection due to optical signal trans mission Lightning protection Electrical isolation of the individual DP stations No compensating currents can flow via a cable screening The PROFIBUS DP interface of the HGPPI has been designed in accordance with specification EN 50170 Volume 2 and can therefore be u...

Страница 45: ...Commissioning 4 1 Festo P BE HGPPI PB EN en 0605NH Chapter 4 ...

Страница 46: ...e and symbol files 4 8 4 4 Basic configuration principles 4 10 4 5 Configuration with a Siemens master 4 12 4 5 1 Configuration with STEP 7 4 13 4 5 2 Configuring with DP masters of other manufacturers 4 20 4 5 3 Instructions for commissioning the PROFIBUS 4 27 4 5 4 Switch on behaviour of the fieldbus module 4 28 4 5 5 Watchdog monitoring 4 30 4 5 6 FREEZE and SYNC 4 31 4 6 Commissioning on the f...

Страница 47: ... file and the symbol files 3 Create the desired hardware configuration with the configuration software for the DP master e g with STEP 7 hardware configurator and enter the starting parameters for the HGPPI in accordance with your application 4 Save the configuration and load it into the control 5 Connect the HGPPI gripper with the PROFIBUS DP master via the fieldbus 6 Create a user program with a...

Страница 48: ...tions with regard to the assignment of PROFIBUS addresses by your DP master Recommendation Assign the PROFIBUS addresses in ascending order If neces sary adapt the PROFIBUS addresses to the machine structure of your system Note The fieldbus module was preset to the valid PROFIBUS address 5 at the factory Please change the PROFIBUS address if the bus address 5 is already taken or if another PROFIBU...

Страница 49: ...te Only change the PROFIBUS address when the power is off with the enclosed plastic screwdriver 1 2 3 4 1 The cover conceals the DIL switch for setting the PROFIBUS address 2 The switch S8 deactivates the device specific diagnosis 3 The switches S1 S7 are for binary coding the PROFIBUS address 4 Service connection only for Festo service staff Fig 4 1 Setting the PROFIBUS address ...

Страница 50: ...d 7 6 5 4 3 2 1 address OFF OFF OFF OFF OFF OFF OFF 0 OFF OFF OFF OFF OFF OFF ON 1 OFF OFF OFF OFF OFF ON OFF 2 OFF OFF OFF OFF OFF ON ON 3 ON ON ON ON ON OFF OFF 124 ON ON ON ON ON OFF ON 125 ON ON ON ON ON ON OFF not permitted ON ON ON ON ON ON ON not permitted Table 4 3 Switch settings Note The addresses 126 and 127 are not permissible The set PROFIBUS address is accepted when the gripper is sw...

Страница 51: ...logic element 8 of the DIL switch Switch position Diagnostic mode ON Device related diagnosis active OFF Device related diagnosis not active If the device related diagnosis is deactivated with the logic element 8 no device specific diagnostic messages of the HGPPI e g undervoltage will be sent to the master system ...

Страница 52: ...resenting the device in the configuration program The GSD files and symbol files for the HGPPI can be found on the enclosed CD The most current files can be found on the Internet under the following address www festo com fieldbus Start downloading the PROFIBUS GSD file there You will require one of the following GSD files for the HGPPI fest0820 gsg German version fest0820 gsd default English versi...

Страница 53: ...nto a certain directory of your programming device PC Installation under Siemens STEP 7 With the STEP 7 V5 3 hardware configurator you can load the files with the aid of the menu command Options Install GSD file in the dialog window HW Config Configuration program File type Directory STEP 7 V5 3 hard ware configurator 1 GSD file STEP7 S7DATA GSD ware configurator 1 Bitmap files STEP7 S7DATA NSBMP ...

Страница 54: ...ata to the HGPPI In the input data the HGPPI transfers 1 status word 4 actual values and 1 error word The cyclical data communication of the HGPPI therefore con sists of 5 output words 10 bytes and 6 input words 12 by tes The data must be transferred consistently Telegram format Byte no 1 2 3 4 5 6 7 8 9 10 11 12 Word no 1 2 3 4 5 6 Output data Start Func tion 1st setpoint value para meter 2nd set...

Страница 55: ...put data 6 words 0xD5 0820h 2 Output data 5 words 0xE4 Table 4 6 Slotallocation The data telegrams are standardly transmitted in Motorola format i e the high order byte first and then the low order one All operands are two bytes long Data format Motorola format Bit 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Byte 1st byte in telegram high order 2nd byte in telegram low order Word Word n Table ...

Страница 56: ...are subject to updates which might not yet be taken into consideration in this description If this should be the case inform yourself with the aid of the corres ponding product documentation In order to make it easier to commission the gripper Festo provides a Simatic project This project contains the functio nal modules for controlling the gripper and an example appli cation to help the user The ...

Страница 57: ...tions with regard to this can be found in Section 4 3 Installing the GSD file and symbol files The hardware configuration window graphically represents the structure of the master system Configure your master PLC with the PROFIBUS DP communications processor Set the DP master operation mode for the PROFIBUS interface When the GSD file has been installed the HGPPI can be selected in the hardware ca...

Страница 58: ...n the HGPPI and con firm this with OK The HGPPI will then be represented graphically 1 4 Mark slot 1 and insert the module Control Status Data HGPPI Both slots are allocated by doing that 1 2 3 1 Symbol for HGPPI Slave with address 5 2 PROFIBUS DP master system line 3 Entry Festo HGPPI from GSD file Fig 4 2 STEP 7 hardware configuration ...

Страница 59: ... 4 15 Festo P BE HGPPI PB EN en 0605NH The address ranges are automatically allocated in the hardware configuration by the system 6 words are reserved for the input data actual values Fig 4 3 Input data address range ...

Страница 60: ...4 Commissioning 4 16 Festo P BE HGPPI PB EN en 0605NH 5 words are reserved for the output data setpoint values Fig 4 4 Output data address range ...

Страница 61: ... are described in the GSD file In STEP 7 they can be edited in the hardware configuration The system parameters initialize the basic setting of the gripper with regard to operating pressure force ramp speed tolerances offset permissible setpoint values After opening the Slave properties of the HGPPI you can configure the system parameters Here specify your applica tion dependent operating conditio...

Страница 62: ...HGPPI 2 Open the object characteristics of the DP slave HGPPI Edit Object characteristics Fig 4 5 Configuring the slave properties In the register General set the PROFIBUS properties address transmission rate etc The PROFIBUS address of the hardware configuration must agree with the hardware coded PROFIBUS address of the gripper s DIL switch ...

Страница 63: ...s The system parameters are used by the closed loop controller and the sequence control see Section 5 1 1 System parame ters They can also be transferred during running operation with the functions Read Write Parameters 4 Save your settings with the menu command Station Save and Compile 5 Load your hardware configuration into the master PLC with the menu command PLC Download 6 Close the hardware c...

Страница 64: ...70 DIN 19245 Bus sequence DP master standard In order to properly commission the HGPPI the DP master must execute the following functions in the sequence specified here 1 Request diagnosis 2 Send parameterization data 3 Check configuration data 4 Transfer input and output data cyclic data exchange 5 Read diagnostic information The structure and content of the individual telegrams will be described...

Страница 65: ...rs for HGPPI Octet 1 Station status Bit Meaning Explanation 0 Reserved 1 2 3 WD_On 0 response monitoring of the HGPPI deactivated 1 response monitoring of the HGPPI activated 4 Freeze_Req 0 freeze mode not requested by the master 1 the slave should be able to be operated in freeze mode 5 Sync_Req 0 sync mode not requested by the master 1 the slave should be able to be operated in sync mode 6 Unloc...

Страница 66: ... reply telegram may be sent to the DP master 5 and 6 Ident_number Transfer of the manufacturer identifier 0820h of the HGPPI Parameterization telegrams to the HGPPI are only accepted if the transmitted and the programmed ID numbers are the same 7 Group_Ident With the HGPPI each bit represents a group Table 4 9 Parameterization data Further standard parameters Slave specific data An HGPPI applicati...

Страница 67: ... gripper finger 2 29 30 P 9 Jaw 1 min permissible setpoint position 31 32 P 10 Jaw 1 max permissible setpoint position 33 34 P 11 Jaw 2 min permissible setpoint position 35 36 P 12 Jaw 2 max permissible setpoint position 37 38 P 13 Jaw 1 min permissible setpoint force 39 40 P 14 Jaw 1 max permissible setpoint force 41 42 P 15 Jaw 2 min permissible setpoint force 43 44 P 16 Jaw 2 max permissible se...

Страница 68: ...P master to the HGPPI with the function Chk_Cfg key F5 Permissible identifiers for HGPPI The HGPPI is a modular slave The identifiers to be used and their sequence are permanently defined and cannot be changed Slot no Data range Length Identifier ID no 1 Input data 6 words 0xD5 0820h 2 Output data 5 words 0xE4 Table 4 11 Slotallocation ...

Страница 69: ... an octet string of length 12 bytes Note The length of the I O data cannot be changed and is deter mined by the GSD file Note The HGPPI awaits the setpoint values in the outputs of the master with the Data_Exchange function The actual values are sent to the master as a reply telegram Fetch diagnostic information Slave_Diag The diagnostic data are requested by the HGPPI with the function Slave_Diag...

Страница 70: ...ta_Exchange Yes NIL RD_Inp Yes 56 RD_Outp Yes 57 Slave_Diag Yes 60 Set_Prm Yes 61 Chk_Cfg Yes 62 Get_Cfg Yes 59 Global_Control Yes 58 Set_Slave_Add No 55 Table 4 12 Overview Implemented functions Bus parameter reaction times Baud rate kbps max TSDR TBit min TSDR TBit 187 5 60 11 500 100 1500 150 3000 250 6000 450 12000 800 Table 4 13 Overview Bus parameters ...

Страница 71: ...PLC and the fieldbus stations are either connected simultaneously or in the sequence speci fied below Observe the following points before connecting the power supply For common supply If there is a common supply for the control system and for all the fieldbus stations the power should be connected via a central power supply unit or central switch For separate supplies If the control system and the...

Страница 72: ...e is reinitialized for the HGPPI gripper There is then no data exchange until the fieldbus module has been re confi gured by the master Information regarding the switch on behaviour of the HGPPI can be found in Chapter 7 The following diagram shows the switch on behaviour of the fieldbus module Detailed information on the error diagnosis can be found in Chapter 6 ...

Страница 73: ...LED ON Error LED ON Self test Error Yes Error LED flashing No Error LED OFF BF LED flashes slowly No Configuration by master Yes Configuration OK No Error LED flashing Yes BF LED OFF Error LED OFF Yes No Data exchange OK Fig 4 7 Switch up behaviour of the fieldbus module ...

Страница 74: ...ils e g due to wire break The HGPPI can be operated with active or inactive watchdog monitoring With active watchdog monitoring all fieldbus inputs of the HGPPI will be reset to 0 when the watchdog monitoring time has expired With inactive watchdog monitoring the status of the fieldbus inputs remains unchanged in the event of a fieldbus commu nication failure ...

Страница 75: ...bus connection to the HGPPI is interrupted watchdog monitoring active FREEZE All inputs of the HGPPI are frozen The HGPPI now sends a constant image of all the inputs to the master With each further FREEZE command the input image is updated and is constantly resent to the master Return to normal operation UNFREEZE command SYNC The outputs of the master are mapped on internal inputs of the fieldbus...

Страница 76: ...rrent states of the fieldbus inputs and outputs As with commissioning via STEP 7 you can also generate the control signals of the HGPPI via the PROFIBUS master By means of the online operating mode of the software for the PROFIBUS master you can test the operability of the HGPPI on the fieldbus Using the function Monitor Modify in online mode of the hardware configuration of STEP 7 input and outpu...

Страница 77: ...Programming 5 1 Festo P BE HGPPI PB EN en 0605NH Chapter 5 ...

Страница 78: ...ical examples for the various offset settings 5 19 5 4 Programming gripper commands 5 21 5 4 1 Principle 5 21 5 4 2 Control word and status word 5 24 5 4 3 Sequential steps for starting a function 5 27 5 4 4 Stop sequence 5 28 5 4 5 Rules for command execution 5 30 5 5 Function descriptions 5 31 5 5 1 Overview 5 31 5 5 2 Special functions 5 33 5 5 3 Single jaw functions 5 40 5 5 4 Two jaw function...

Страница 79: ...ted 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 data Word 1 2 3 4 5 6 Output data Start bit Function no 1st setpoint value 2nd setpoint value 3rd setpoint ...

Страница 80: ...HGPPI with the parameter telegram at connection set up The system parameters also contain the serial and version numbers The setpoint and actual values contain the parameters which are transferred in the cyclical I O data depending on the selected function All parameters can be read and in part written individually at the execution time Here access to the system parameters is especially meaningful...

Страница 81: ...et permissible setpoint values These initialization parameters are transferred with the PROFIBUS parameter telegram They are written in the GSD file with default values see Section 4 5 1 Configuration with STEP 7 In addition the system parameters provide the version and serial numbers of the gripper The system parameters can be transferred during running operation with the functions Read Write Par...

Страница 82: ...s 9 Min permissible position setpoint value 15 0 01 mm 0 Yes 10 Max permissible position setpoint value 1 0 01 mm 1 000 Yes 11 Max permissible position setpoint value 2 0 01 mm 0 Yes 12 Max permissible position setpoint value 2 0 01 mm 1 000 Yes 13 Min permissible force setpoint value 16 0 1 N 850 Yes 14 Max permissible force setpoint value 1 0 1 N 850 Yes 15 Max permissible force setpoint value 2...

Страница 83: ...fluence the control quality Closed loop control parameter 1 has an effect on the pro portional amplification component P component and influences the overall positioning process over a higher lower weighting of the subsequent error during move ment Closed loop control parameter 2 affects the integral com ponent I component and influences the control beha viour in the target position 5 Parameters 9...

Страница 84: ...0 01 mm 10 000 10 000 int16 9 Max permissible position setpoint value 1 0 01 mm 0 1 000 int16 10 Max permissible position setpoint value 1 0 01 mm 0 1 000 int16 11 Max permissible position setpoint value 2 0 01 mm 0 1 000 int16 12 Max permissible position setpoint value 2 0 01 mm 0 1 000 int16 13 Max permissible force setpoint value 1 0 1 N 850 850 int16 14 Max permissible force setpoint value 1 0...

Страница 85: ... 0 01 mm int16 4 Desiredmid position 0 01 mm int16 5 Desiredopening 0 01 mm int16 6 Position threshold gripper finger 1 0 01 mm int16 7 Position threshold gripper finger 2 0 01 mm int16 8 Position tolerance factor 1 int16 9 Speed factor 1 int16 10 Desired force gripper finger 1 0 1 N int16 11 Second desired force gripper finger 1 0 1 N int16 12 Desired force gripper finger 2 0 1 N int16 13 Second ...

Страница 86: ...set Parameter set 3 Actual values IND Description Scal Unit Type 0 Status word uint16 1 Actual position gripper finger 1 0 01 mm int16 2 Actual position gripper finger 2 0 01 mm int16 3 Actual centre position 0 01 mm int16 4 Actual opening 0 01 mm int16 5 Actual force gripper finger 1 0 1 N int16 6 Actual force gripper finger 2 0 1 N int16 7 Actual gripping force 0 1 N int16 8 Error word uint16 Ta...

Страница 87: ...wer supply Profibus and the compressed air supply The PROFIBUS address can also be set via DIL switch under the cover plate on the front side Both gripper jaws are defined from the perspective of the front view as gripper jaw 1 left and gripper jaw 2 right The gripper fingers are defined as gripper finger 1 and gripper finger 2 respectively 1 Gripper jaw gripper finger 1 2 Gripper jaw gripper fing...

Страница 88: ...with when specifying setpoint values For example an opening when the gripper jaws are completely closed is not zero but the minimum distance between the gripper fingers The gripper coordinate system can then be adapted to the constructive properties of the gripper fingers The control always transfers the setpoint values or reads the actual values in gripper finger coordinates The closed loop contr...

Страница 89: ... A Offset gripper finger 1 Offset between gripper zero point and gripping point on the gripper finger distance of the gripping point B Offset gripper finger 2 on the gripper finger distance of the gripping point on the gripper finger to the gripper zero point when the gripper jaws 1 2 are completely retracted Table 5 7 Coordinate system Offset Note The desired position limits in the system paramet...

Страница 90: ... fingers A Offset gripper finger 1 Offset between gripper zero point and gripping point on the gripper finger B Offset gripper finger 2 Offset between gripper zero point and gripping point on the gripper finger C Position jaw 1 Distance of gripper jaw 1 from gripper zero point D Position jaw 2 Distance of gripper jaw 2 from gripper zero point E Position gripper finger 1 Distance of gripper finger ...

Страница 91: ...o point Position values become larger towards the outside X2 Mid point of the gripperfingers centre position Gripper zero point The position values become larger from gripper jaw 2 toward gripper jaw 1 XM Positive position values Toward gripper jaw 1 Negative position values Toward gripper jaw 2 Force gripper 1 Gripper is free Positive forces act toward the inside F1 toward the gripper zero point ...

Страница 92: ...n the case of single jaw commands Setpoint position 1 B Setpoint position 1 F Offset 1 Setpoint position 2 B Setpoint position 2 F Offset 2 Actual position 1 B Actual position 1 F Offset 1 Actual position 2 F Actual position 2 B Offset 2 Conversion in the case of combined 2 jaw commands specifi cation of mid point and opening The HGPPI must also convert the specification of mid point and opening d...

Страница 93: ...m the outside this is referred to as an external gripping If it is gripped with the gripper fingers from the inside it is referred to as an internal gripping No gripper finger offset external gripping 1 Gripper finger 1 2 Gripper finger 2 1 2 Fig 5 5 Offset 0 Positive offset of both gripper fingers external gripping 1 Gripper finger 1 2 Gripper finger 2 1 2 Fig 5 6 Offset 0 ...

Страница 94: ...ingers internal gripping 1 Gripper finger 1 2 Gripper finger 2 1 2 Fig 5 7 Offset 0 Positive offset gripper finger 1 external gripping Negative offset gripper finger 2 external gripping 1 Gripper finger 1 2 Gripper finger 2 1 2 Fig 5 8 Offset gripper finger 1 0 offset gripper finger 2 0 ...

Страница 95: ...lest 2000 Largest 4000 0 2000 Ū 4000 Positive symmetric offsets Offset 2 1000 Largest 4000 300 2600 Ū 3400 50 2100 Ū 3900 External gripping no figure Positive asymmetric offsets Offset 1 150 Offset 2 220 Smallest 370 Largest 2370 0 440 Ū 2300 Positive asymmetric offsets Offset 2 220 Largest 2370 200 700 Ū 2040 200 840 Ū 1900 Internal gripping Fig 5 7 Positive symmetric offsets Offset 1 10000 Offse...

Страница 96: ...rgest 4000 3000 500 Ū 500 3800 100 Ū 100 External gripping no figure Positive asymmetric offsets Offset 1 150 Offset 2 220 Smallest 370 Largest 2370 370 35 Positive asymmetric offsets Offset 2 220 Largest 2370 1000 350 Ū 280 2000 220 Ū 150 Internal gripping Fig 5 7 Positive symmetric offsets Offset 1 10000 Offset 2 10000 Smallest 20000 Largest 22000 20300 150 Ū 150 Positive symmetric offsets Offse...

Страница 97: ...ger function 10 Force regulated gripping function 30 Movement under force regulation function 33 Opening function 34 etc General procedure 1 In Table 5 22 search for a suitable function correspon ding to the desired movement 2 Each function has between one and four setpoint value parameters After you have chosen a function search for this function in Sections 5 5 2 to 5 5 4 These sections describe...

Страница 98: ...per finger 10 1st parameter Gripper finger 1 desired position 3 520 2nd parameter Position tolerance 4 50 3rd parameter Unused 0 4th parameter Unused 0 1 The start byte contains bit coded control information See Section 5 4 2 2 Gripper finger 1 is selected by Select 1 1 3 Position values are always specified in 1 100 mm 4 The position tolerance is defined as a percentage 1 100 of the initializatio...

Страница 99: ...t error word as a reply in the input data The actual values are defined depending on the function number There are two different variants corresponding to the two groups which the functions are divided into Input data Variant 1st word 2nd word 3rd word 4th word 5th word 6th word 1JF1 Status word Actual posi tion gripper finger 1 Actual posi tion gripper finger 2 Actual force gripper finger 1 Actua...

Страница 100: ... the gripper by either putting it into action or stopping it Start byte Bit Description Comment Bit 0 Reserved Bit 1 Start A rising edge starts the command Bit 2 Select 1 Select gripper finger 1 command is executed for gripper finger 1 Bit 3 Select 2 Select gripper finger 2 command is executed for gripper finger 2 Bit 4 Stop 1 Stop active for gripper jaw 1 active at 0 signal Bit 5 Stop 2 Stop acti...

Страница 101: ...n the position tolerance window Bit 6 In the force tolerance window Bit 7 Motion Complete MC 1 Bit 8 Stop active Bit 9 Reserved Gripper finger 2 Bit 10 Switching point reached Bit 11 In the position tolerance window Bit 12 In the force tolerance window Bit 13 Motion Complete MC 1 Bit 14 Stop active Bit 15 Reserved 1 MC means that the movement or command was completed after the tolerance window was...

Страница 102: ...inger Description DBW0 DBB0 DBX0 0 Gripper finger 1 Stop active DBX0 1 Reserved DBX0 2 Gripper finger 2 Switching point reached DBX0 3 Gripper finger 2 In the position tolerance window DBX0 4 Gripper finger 2 In the force tolerance window DBX0 5 Gripper finger 2 Motion Complete DBX0 6 Gripper finger 2 Stop active DBX0 7 Reserved DBB1 DBX1 0 Both Malfunction DBX1 1 Both Start acknowledge ACK DBX1 2...

Страница 103: ... word 3 With rising edge 0 1 at the start the HGPPI slave accepts the task and signals this by setting bit 1 Acknowledge command ACK acknowledge in the status word Before ACK is set the HGPPI executes the following actions Conversion of gripper finger coordinates into jaw coordinates Checking setpoint value limits Accepting new setpoint values and starting the command Resetting the status bit Moti...

Страница 104: ... 1 The stop bit in the control word is reset by the PLC IPC In the case of a falling edge the gripper executes the followingcommands Switch to position control Desired position actual position Position tolerance factor 100 Motion Complete MC is reset The Stop active bit is set 2 After the PLC IPC has received the reply Stop active 1 the stop bit can be set back to 1 in the control word As soon as ...

Страница 105: ...ipper jaw A stop has the highest priority and interrupts the current command of the gripper Exception As long as function 3 or 4 is active no MC present it is not possible to stop a single jaw A single jaw stop can be interrupted by a two jaw stop A new command is only possible when after resetting the stop bit the following status bits have the specified signal status Stop active 0 signal Motion ...

Страница 106: ...nglejawcommand functions10 Ū 17as well as single jaw stop both gripper jaws first go into position control with desired position current actual position The position tolerance is with respect to the position of a single jaw respectively i e when the mid point and opening are specified the tolerance of the opening is double the specified position tolerance The specification of the position toleranc...

Страница 107: ... one gripper jaw etc The parameters contain the absolute position of the gripper finger or the gripping force of the gripper jaw Select 2 0 0 1 1 Select 1 0 1 0 1 Addressed Error Gripper finger 1 Gripper finger 2 Gripper fingers 1 2 gripper jaw Exception Error reset Fct 1 Bits are not evaluated 30 and up Combinedtwo jawfunctions Coordinated movements of both gripper jaws are Both gripper jaws are ...

Страница 108: ...ndent switching from position to force setpoint value 16 Force dependent switching from position to force setpoint value 17 Position dependent switching from force to position setpoint value 30 Force controlled gripping with freely shiftable centre position 31 Force controlled gripping with fixed mid position 32 Force controlled gripping with fixed mid position and pre positioning 33 Force control...

Страница 109: ... Select 1 1 Select 2 0 Only gripper finger 1 is moved 2 Select 1 0 Select 2 1 Only gripper finger 2 is moved 2 Select 1 1 Select 2 1 Gripper finger 1 and gripper finger 2 are moved Note If one of the variants is not possible the corresponding line is not specified For example all two jaw functions can always only be applied to both gripper fingers simultaneously Columns 2 Ū 5 contain the setpoint ...

Страница 110: ...desired position of gripper finger 2 must be given as int16 in 0 01 mm The parameter is entered in the output data in bytes 3 and 4 The second setpoint value parameter is the position tole rance factor P2 8 According to Table 5 5 the parameter is indicated in of the position tolerance P1 0 The parameter must be entered in bytes 5 and 6 of the output data The 3rd and 4th parameters byte 7 10 are no...

Страница 111: ... in parameter P2 1 are ignored in function 1 Function 1 parameters Error reset Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper 1 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...

Страница 112: ...te 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Parameter 1 Parameter 2 Select 2 1 No IND Value No IND Value Actual values gripper data PLC Parameter 1 Parameter 2 No IND Value No IND Value No parameter set no IND index in accordance with the table Table 5 24 Byte allocation Write para...

Страница 113: ...e start flag Both selection bits must be set here The command is ended when the HGPPI signals Motion Complete MC If no error occurs during processing the HGPPI trans fers the written values as a reply in the actual values If an error occurs during processing the error number is transferred instead of the value At the same time the HGPPI goes into error status Caution The entered values are not sto...

Страница 114: ... 3 1 7 Actual values except for status word and error word Function 4 parameters Read parameters Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Parameter 1 Parameter 2 Select 2 1 No IND Value No IND Value Actual values gripper data PLC Parameter 1...

Страница 115: ...tart flag Both gripper finger selection bits must be set here The command is ended when the HGPPI signals Motion Complete MC If an actual value parameter group 3 is read out only the current value at the time of the query is output There is no automatic refresh if the displayed value should change If no error occurs during processing the HGPPI trans fers the read values as a reply in the actual va...

Страница 116: ...arameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 0 Setpoint position gripper finger 1 P2 2 Position tolerance factor P2 8 Select 1 0 Select 2 1 Setpoint position gripper finger 2 P2 3 Position tolerance factor P2 8 Select 1 1 Select 2 1 Setpoint position Gripper finger 1 P2 2 Setpoint position Gripper finger 2 P2 3 Position tolerance factor P2 8 Actual values gripper dat...

Страница 117: ...n 1st parameter 2nd parameter 3rd parameter 4th parameter 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 grippe...

Страница 118: ...aw either bit 4 or bit 10 After reaching the target position the threshold monitoring function is deacti vated again The display value of the bit remains as it is until the next command The following cases apply for the threshold monitoring function Case Threshold reached when Desired position ţ actual position Actual force Ţ threshold Desired position actual position Actual force ţ threshold Tabl...

Страница 119: ... 1 1 Select 2 0 Setpoint position gripper finger 1 P2 2 Position tolerance factor P2 8 Force threshold gripper finger 1 P2 15 Select 1 0 Select 2 1 Setpoint position gripper finger 2 P2 3 Position tolerance factor P2 8 Force threshold gripper finger 2 P2 16 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 ...

Страница 120: ... word depending on the activated gripper jaw either bit 4 or bit 10 The thres hold monitoring function remains active even after the setpoint force is reached until a new command is entered The following cases apply for the threshold monitoring function Case Threshold reached when Setpoint force ţ 0 Actual position Ţ threshold Setpoint force 0 Actual position ţ threshold Table 5 30 Threshold monit...

Страница 121: ... values PLC data gripper Select 1 1 Select 2 0 Setpoint force gripper finger 1 P2 10 Position threshold gripper finger 1 P2 6 Select 1 0 Select 2 1 Setpoint force gripper finger 2 P2 12 Position threshold gripper finger 2 P2 7 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 P...

Страница 122: ...he second setpoint force F2 is switched Also the corresponding bit in the status word is set depending on the selected gripper jaw either bit 4 or bit 10 The following cases apply for the threshold monitoring function Case Threshold reached when Setpoint force 1 ţ 0 Actual position Ţ threshold Setpoint force 1 0 Actual position ţ threshold Table 5 32 Threshold monitoring If the threshold is alread...

Страница 123: ...t setpoint force gripper finger 1 P2 10 Position threshold gripper finger 1 P2 6 Second setpoint force gripper finger 1 P2 11 Select 1 0 Select 2 1 First setpoint force gripper finger 2 P2 12 Position threshold gripper finger 2 P2 7 Second setpoint force gripper finger 2 P2 13 Actual values gripper data PLC Actual position gripper finger 1 P3 1 Actual position gripper finger 2 P3 2 Actual force gr...

Страница 124: ...he corresponding display of a threshold monitoring bit Function 15 parameters Position dependent switching from position to force setpoint value Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 0 Setpoint position gripper finger 1 P2 2 Position tolera...

Страница 125: ... Force dependent switching from position to force setpoint value Fig 5 17 Force dependent switching from position to force setpoint value Description A gripper jaw is positioned X Once the defined force threshold F is reached during positioning the correspon ding bit is set in the status word depending on the activa ted gripper jaw either bit 4 or bit 10 and force control F is switched over After ...

Страница 126: ...Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 0 Setpoint position gripper finger 1 P2 2 Position tolerance factor P2 8 Force threshold gripper finger 1 P2 15 Setpoint force gripper finger 1 P2 10 Select 1 0 Select 2 1 Setpoint position gripper finger 2 P2 3 Position tolerance factor P2 8 Force threshold ...

Страница 127: ...gripper jaw either bit 4 or bit 10 and position control X is switched over and the setpoint position is approached The threshold monitoring function remains active even after the setpoint force is reached until a new command is entered The following cases apply for the threshold monitoring function Case Threshold reached when Setpoint force ţ 0 Actual position Ţ threshold Setpoint force 0 Actual p...

Страница 128: ...inger 1 P2 10 Position threshold gripper finger 1 P2 6 Setpoint position gripper finger 1 P2 2 Position tolerance factor P2 8 Select 1 0 Select 2 1 Setpoint force gripper finger 2 P2 12 Position threshold gripper finger 2 P2 7 Setpoint position gripper finger 2 P2 3 Position tolerance factor P2 8 Actual values gripper data PLC Actual position gripper finger 1 P3 1 Actual position gripper finger 2 ...

Страница 129: ...sition of the gripper jaws can be freely shifted Function 30 parameters Force controlled gripping with freely shiftable centre position Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpointgripping force P2 14 Actual values gripper data PLC Actu...

Страница 130: ...ng with fixed centre position Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpointgripping force P2 14 Setpoint centre position P2 4 Position tolerance factor P2 8 Actual values gripper data PLC Actual centre position P3 3 Actual opening P3 4 A...

Страница 131: ... Function 32 parameters Force controlled gripping with fixed mean position and pre positioning Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpoint centre position P2 4 Setpointopening P2 5 Position tolerance factor P2 8 Setpointgripping force ...

Страница 132: ...0 again so that the standard setting for all other functions is 100 Function 33 parameters Force controlled movement Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpointgripping force P2 14 Setpoint mid position P2 4 Position tolerance factor P...

Страница 133: ...eff and mid point xM Function 34 parameters Opening Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpoint centre position P2 4 Setpointopening P2 5 Position tolerance factor P2 8 Actual values gripper data PLC Actual centre position P3 3 Actual ...

Страница 134: ...ning at mid point and opening Gripper finger Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 finger selection 1st parameter 2nd parameter 3rd parameter 4th parameter Setpoint values PLC data gripper Select 1 1 Select 2 1 Setpoint mid position P2 4 Setpointopening P2 5 Position tolerance factor P2 8 Actual values gripper data PLC Actual centre position P3 3 Actual opening P3 4 Actualgrippi...

Страница 135: ...t 0 Stop 2 Stop 1 Select 2 Select 1 Start 0 0 0 0 0 0 1 0 Table 5 45 Start byte at rising edge Example Error reset Start byte See above 0000 0010b 02h Function no Error reset 1 01h 1st parameter Not used 0 0000h 2nd parameter Not used 0 0000h 3rd parameter Not used 0 0000h 4th parameter Not used 0 0000h Table 5 46 Error reset Output data for error reset at rising starting edge 1st word 2nd word 3r...

Страница 136: ...ed force of 50 N Gripper finger 1 is already in the desi red position under position control 1 Gripper finger 1 2 Gripper finger 2 Function 11 Force control of a gripper finger is suitable for this task Table 5 27 describes the required setpoint values Start byte at rising edge Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Stop 2 Stop 1 Select 2 Select 1 Start 0 0 1 1 1 0 1 0 Table 5 48 Start by...

Страница 137: ... 500 01F4h 2nd parameter Not used 0 0000h 3rd parameter Not used 0 0000h 4th parameter Not used 0 0000h Table 5 49 Parameter allocation Force control gripper finger 2 Output data for force regulation gripper finger 2 at rising starting edge 1st word 2nd word 3rd word 4th word 5th word Start FNo 1st parameter 2nd parameter 3rd parameter 4th parameter 3Ah OBh 01h F4h 00h 00h 00h 00h 00h 00h Table 5 ...

Страница 138: ... 51 Start byte at rising edge Example Change speed Start byte See above 0011 1110b 3Eh Function no Write parameters 3 O3h 1st parameter HighWord Parameter set no LowWord Index IND 1 3 0103h 2nd parameter Value Speed in mm s 10 000Ah 3rd parameter Not used 0 0000h 4th parameter Not used 0 0000h Table 5 52 Parameter allocation Change speed Change output data for speed at rising starting edge 1st wor...

Страница 139: ... Example Force controlled gripping with fixed mid position Start byte See above 0011 1110b 3Eh Function no Force regulated gripping with fixed mid position 31 1Fh 1st parameter setpoint force 1 10 N 400 0190h 2nd parameter Desired centre position 1 100 mm 460 01CCh 3rd parameter Positioning tolerance 1 50 0032h 4th parameter Not used 0 0000h Table 5 55 Parameter allocation Force controlled grippin...

Страница 140: ...5 Programming 5 64 Festo P BE HGPPI PB EN en 0605NH ...

Страница 141: ...Diagnosis and trouble shooting 6 1 Festo P BE HGPPI PB EN en 0605NH Chapter 6 ...

Страница 142: ...ting the cyclical I O data 6 7 6 3 2 Device related diagnosis 6 8 6 3 3 Analysis of the diagnostic information with a PLC IPC 6 11 6 3 4 Analysis of the diagnosis using the commissioning software 6 12 6 4 Malfunctions and trouble shooting 6 15 6 4 1 Responding to malfunctions 6 15 6 4 2 Classification of malfunctions error word 6 16 6 4 3 Malfunction group 1 Hardware fault 6 17 6 4 4 Malfunction g...

Страница 143: ...er friendly options for diagnosis and error handling The following options are available The LEDs on the HGPPI indicate hardware errors configuration errors bus errors etc on site With the cyclical I O data the HGPPI transfers the current error word in addition to the actual values in the reply The status word includes an error bit Via the fieldbus extended diagnostic information can be requested ...

Страница 144: ...o be made on the status of the HGPPI see Fig 6 1 1 BF LED red 2 Error LED red 3 Power LED green 1 2 3 Fig 6 1 Front view of the HGPPI with LED displays The LEDs have the following behaviour Note All LEDs are switched on for 2 seconds directly after the supply voltage is switched on during the HGPPI initialization Correct LED function can be visually checked this way ...

Страница 145: ...tive Flashes slowly 1 Hz No connection to the fieldbus master Flashes quickly 10 Hz Incorrect PROFIBUS address Table 6 2 Operating status BF LED Error LED red Operating status On 2 seconds Booting initializing the HGPPI Off Power LED illuminated Operating status normal Flashing Active malfunction see error evaluation ERROR LED Table 6 3 Operating status Error LED 6 2 1 Error evaluation Error LED I...

Страница 146: ...rect error in PLC IPC Acknowledge malfunction with function 1 reset 3x PROFIBUS Impermissible address Switch off correct address on the DIL switches and switch on again 4x PROFIBUS Faulty parameter data Correct the parameter data in the master and reestablish PROFIBUS communication 5x PROFIBUS Impermissible configuration data Correct the configuration data in the master and reestablish PROFIBUS co...

Страница 147: ...al function and its cause I O data Byte no 1 2 3 4 5 6 7 8 9 10 11 12 Word no 1 2 3 4 5 6 Output data Start FNo 1st setpoint value 2nd setpoint value 3rd setpoint value 4th setpoint value Input data Status word 1st actual value 2nd actual value 3rd actual value 4th actual value Error word Table 6 5 Allocation of the I O data As long as no malfunction is active in the HGPPI the HGPPI transfers the ...

Страница 148: ...20h 6 Header for device related diagnosis Specifies the length of the device related diagnosis including header In the case of the HGPPI fixed 10 0Ah 7 Error word high byte error group Error word see section 6 4 2 8 Error word low byte error code 9 Support information High byte Extended error code which is transferred for servicing purposes 10 Support information Low byte servicing purposes 11 Ver...

Страница 149: ...plied Bus line interrupted or disturbed 1 Diag Station_Not_Ready HGPPI is not yet ready for data exchange 2 Diag Cfg_Fault The configuration data received from the master do not agree with those from the the HGPPI 3 Diag Ext_Diag This is a device related diagnosis 4 Diag Not_Supported 1 The gripper does not support the function requested 5 Diag Invalid_Slave_Response always 0 always reset to 0 by ...

Страница 150: ...master must fetch diagnostic data until this bit is set to 0 2 Is always set to 1 by the HGPPI 3 Diag WD_On 1 response monitoring watchdog activated 4 Diag Freeze_Mode 1 Freeze activated 1 5 Diag Sync_Mode 1 Sync activated 1 6 reserved 7 Diag Deactivated always 0 always reset to 0 by the HGPPI 1 Only in conjunction with a diagnostic message Table 6 8 Diagnostic bits of station status 2 ...

Страница 151: ...ing operation These read out the diagnostic data of the the slave and write it into a data range of the user program After being read out the diagnostic data can be evaluated by the user program Inform yourself about the options for reading out diagnostic data in the manufacturer documentation Note The HGPPI requests diagnosis from the master twice When a malfunction occurs incoming malfunction an...

Страница 152: ...ask Properties DP slave 6 3 4 Analysis of the diagnosis using the commissioning software Depending on the manufacturer of the PLC IPC the error diagnosis can also be carried out using commissioning software Inform yourself about the options for reading out diagnostic data in the documentation of the commissioning software you have used for your control system Diagnosis with STEP 7 In the case of a...

Страница 153: ...ersion numbers of the closed loop controller and communication module are displayed in plain language The support information is not displayed You can have the support information displayed by clicking on Hex Format Note If one of the named elements is not displayed you must update the GSD file You can download the current GSD file in the download area at www festo com fieldbus ...

Страница 154: ... and trouble shooting 6 14 Festo P BE HGPPI PB EN en 0605NH Note The request from the master for diagnosis can be suppres sed for commissioning purposes by setting the DIL switch 8 to ON see Fig 4 1 in Section 4 1 ...

Страница 155: ...rd fault 3 Compiles the extended diagnostic data and sets the Diag Ext_Diag bit in station status 1 This requests the master to carry out a diagnosis 4 Error LED flashing As long as a malfunction is active the HGPPI doesn t execute any commands with the exception of reset function 1 When a malfunction is detected the master controller must execute the appropriate reaction to it Whether a malfuncti...

Страница 156: ...lassification Every group has a corresponding number of error numbers which exactly describe the malfunction in question Put together the malfunction group and the error number form the error word HGPPI error word Bit 15 08 07 00 Contents Malfunction group Error number Table 6 11 Composition of the error word An error word is fundamentally written as follows E Group Number The numbers are specifie...

Страница 157: ...wledge malfunction with function 1 reset E1 02 6x Communication module Error occurred while initializing hard ware or in the communication with closed loop controller module Exchange the communication module or HGPPI E1 03 6x Closed loop controller module Error occurred while initializing the hardware etc Exchange the closed loop controller module or HGPPI E1 04 E1 253 Reserved E1 254 10x Closed l...

Страница 158: ...rameter data in the master and re establish PROFIBUS communication E2 03 5x PROFIBUS I O configuration faulty Correct the configuration data in the master and re establish PROFIBUS communication E2 04 E2 09 Reserved E2 10 E2 26 4x Parameter P00 P16 outside the permissible range The following applies here E2 10 P00 E2 11 P01 E2 12 P02 E2 25 P15 E2 26 P16 Correct the parameters in question in the ma...

Страница 159: ...heck the parameter number and correct it E3 03 2x Function 3 4 read write Addressed subindex does not exist Check the subindex and correct it E3 04 2x Function 3 write Parameter is READ ONLY No write access allowed Check whether the correct para meter address was entered Check whether the parameter is to be read function 3 E3 05 2x Function 3 4 read write Access not allowed The parameter can be ne...

Страница 160: ...6 Diagnosis and trouble shooting 6 20 Festo P BE HGPPI PB EN en 0605NH ...

Страница 161: ...Programming using the S7 module 7 1 Festo P BE HGPPI PB EN en 0605NH Chapter 7 ...

Страница 162: ... PB EN en 0605NH Contents 7 Programming using the S7 module 7 1 7 1 Introduction 7 3 7 1 1 Project overview 7 3 7 1 2 Functional description 7 6 7 2 Module descriptions 7 8 7 2 1 Data module HGPPI_COMMAND LIST 7 8 7 2 2 Functional module HGPPI_CONTROL 7 11 ...

Страница 163: ...EP 7 Project includes functional and data modu les for controlling the HGPPI via PROFIBUS DP with a SIMATIC S7 controller The modules help the user with commissioning and can be adapted to the respective user s specifications The example project allows the user to integrate the HGPPI into the overall system 7 1 1 Project overview The project contains the following modules Fig 7 1 STEP 7 project mo...

Страница 164: ... diagnosis capable modules Yes Without OB82 the CPU goes to STOP if there is an error OB86 RACK_FLT Error OM for monitoring errors in decentralized peripherals Yes Without OB86 the CPU goes to STOP if there is an error FB10 HGPPI_CONTROL Functional module for activating the HGPPI Yes Controlling the handshake DB5 DB_COMMAND LIST Global data module with records of the user specific HGPPI com mands ...

Страница 165: ..._DAT Transfer of data to DP standard slave consistent with system function No Used in the functional module HGPPI_CONTROL generated automatically SFC24 TEST_DB System function For receiving information via a data module No Used in the functional module HGPPI_CONTROL generated automatically Table 7 1 Module contents Note If SFC24 is not supported by the PLC the network should be cleared by calling ...

Страница 166: ...pective of the OB1 Here the thin arrows represent the sequence of the module calls and the thick arrows represent the exchange of parameters among the modules OB 1 HGPPI User_Application Execute command no FB 10 HGPPI_Control e g user data module Generate command list DB5 Command list PROFIBUS Data transfer via PROFIBUS with SFC 14 SFC 15 Setpoint value commands Fig 7 2 Module call FB10 HGPPI_CONT...

Страница 167: ... values is referred to as a command This principle is also used in the S7 project The data module DB_COMMAND LIST here DB5 includes a list array of commands The structure of a command is defined by the arrangement of data in DB5 The command list in the example is generated once during installation by FB5 HGPPI_Com mand_List It can be changed at any time during running operation e g by means of a c...

Страница 168: ...ist each com mand is programmed only once The sequence control trans fers the number of the command array index to be executed to the FB10 This loads the command from the data module DB5 HGPPI_COMMAND LIST The command data is trans ferred to the HGPPI with the start command You can create a program with a certain command sequence for a specific application If components of other dimensions are to ...

Страница 169: ...ion and four setpoint values For each command the user must enter the following values Function code Function number to be executed Jaw 1 TRUE Command is executed for Jaw 1 FALSE Command is NOT executed for Jaw 1 Jaw 2 TRUE Command is executed for Jaw 2 FALSE Command is NOT executed for Jaw 2 Set_Point_1 Setpoint values depending on the function number and gripper jaw selection ...

Страница 170: ...he data module DB_Command_list must not be decla red with the module number DB5 Any module number can be assigned in the S7 project The module number must be entered in the input parameters of the functio nal module when FB10 is called The number of commands in the data module DB_Command_list should always be greater than zero The predefined DB5 includes 35 commands The user project can be made up...

Страница 171: ...PB EN en 0605NH 7 2 2 Functional module HGPPI_CONTROL The multi instance capable functional module FB10 has the task of activating the HGPPI It uses the system functions SFC14 and SFC15 for PROFIBUS communication Fig 7 4 Functional module FB10 HGPPI_CONTROL ...

Страница 172: ... is released FALSE Stop for gripper jaw 2 is activated Ack OUT output BOOL TRUE A restart cannot be executed FALSE A restart can be executed Fault OUT output BOOL TRUE HGPPI has no error FALSE HGPPI has an error see error ID Jaw1_MC OUT output BOOL Motion Complete gripper finger 1 Jaw1_Threshold OUT output BOOL Threshold value exceeded gripper finger 1 Jaw1_Pos_Tol OUT output BOOL Gripper finger 1...

Страница 173: ...e data length of the data module and whether the data module was closed DB_No transfers the data module with the command list to the functional module The Command_No selects the com mand list in the data module The ACK output indicates whether a new HGPPI command can be started If it is FALSE a command can be executed with a rising edge at the start input Note A start cannot be executed if a stop ...

Страница 174: ...le project via global flags and can be conveniently controlled via the variable tables The sent and received data from PROFIBUS can also be directly viewed here Only the start stop flag are neces sary for operation A rising edge of the start flag starts the current step and the stop flag resets the step counter to zero and simultaneously stops the HGPPI ...

Страница 175: ...7 Programming using the S7 module 7 15 Festo P BE HGPPI PB EN en 0605NH Fig 7 5 View of the variables table for activating the FB10 ...

Страница 176: ...7 Programming using the S7 module 7 16 Festo P BE HGPPI PB EN en 0605NH Fig 7 6 Variable table for changing the command list ...

Страница 177: ... to the project 5 Enter the provided operating pressure in Properties DP slave and check the offset software end positions 6 Fill out the command list with commands 7 In the step list assign the previously programmed com mands in the desired sequence 8 Load project into the controller 9 With the help of the variables table execute commands and monitor the actual values 10 After a sufficient test p...

Страница 178: ...7 Programming using the S7 module 7 18 Festo P BE HGPPI PB EN en 0605NH ...

Страница 179: ...Technical appendix A 1 Festo P BE HGPPI PB E N en 0605NH Appendix A ...

Страница 180: ...A Technical appendix A 2 Festo P BE HGPPI PB EN en 0605NH Contents A Technical appendix A 1 A 1 Technical data A 3 A 2 Data types A 6 A 2 1 Int16 A 6 A 2 2 Uint16 A 7 ...

Страница 181: ...n www festo com see conformity declaration www festo com Vibration and shock Vibration Shock 0 35 mmdisplacementat10 60Hz 5 g acceleration at 60 150 Hz 30 g at 11 ms duration 5 shocks in each direction Note on materials Contains PWIS paint wetting impairment substances Materialinformation Cover cap Housing Gripper jaw Wroughtaluminiumalloy anodised Smooth anodisedaluminium Wroughtaluminiumalloy sm...

Страница 182: ...ping force per jaw 6 N Controllable gripping force range opening clo sing at 6 bar per jaw 10 60 N Controllable stroke range per gripper jaw 0 10 mm Maximuminterchangeability Ţ 0 2 mm Repetition accuracy 0 1 mm Minimumpositioningspeed 1 mm s Typical positioning time 150 250 ms Electrical data Nominal voltage load supply 24 V DC _ 25 Nominal voltage logic supply 24 V DC _ 25 Residual ripple 5 Maxim...

Страница 183: ...Baud rate Line length depending on baud rate and cable type Loading capacity of positive power supply P5V pin 6 RS 485 potential free serial asynchronous half duplex PROFIBUS DP standard slave tested in accordance with DIN 19245 parts 1 to 4 EN 50170 vol 2 9 6 12000 kbps automatic baud rate identification up to 1 2 km max 100 mA ...

Страница 184: ... 2 octets 1 Signed whole numbers coding is in complement of two 2 Unsigned whole numbers A 2 1 Int16 Data type Coding Range of values Resolution Length Int16 3 32768 32767 1 2 octets An integer16 value is a 16 bit signed whole number Coding is in complement of two Bit 8 7 6 5 4 3 2 1 Octet 1 SN 214 213 212 211 210 29 28 Octet 2 27 26 25 24 23 22 21 20 SN sign 0 positive numbers or zero 1 negative ...

Страница 185: ...N en 0605NH A 2 2 Uint16 Data type Coding Range of values Resolution Length Uint16 6 0 65535 1 2 octets An unsigned16 value is a 16 bit unsigned whole number Bit 8 7 6 5 4 3 2 1 Octet 1 215 214 213 212 211 210 29 28 Octet 2 27 26 25 24 23 22 21 20 ...

Страница 186: ...A Technical appendix A 8 Festo P BE HGPPI PB EN en 0605NH ...

Страница 187: ...Index B 1 Festo P BE HGPPI PB EN en 0605NH Appendix B ...

Страница 188: ...B Index B 2 Festo P BE HGPPI PB EN en 0605NH ...

Страница 189: ... Diagnosis Evaluation with a PLC IPC 6 11 Evaluation with the commissioning software 6 12 On the spotdiagnosis 6 4 Overview 6 3 Structure of the slave diagnosis of the HGPPI 6 8 via PROFIBUS DP 6 7 Display and connecting elements 1 4 E Earthing Earthing the HGPPI 3 7 F Fibre optic cables 3 14 Fieldbus cable Specifications of the fieldbus cable 3 9 FREEZE 4 31 G GSD file 4 8 4 9 ...

Страница 190: ...6 16 Configuration error 6 18 Execution error 6 19 Hardware error 6 17 Trouble shooting 6 15 Motorola format 4 11 N Notes regarding this description VIII P Pictograms X PROFIBUS DP interface 3 4 3 6 3 7 3 8 Connecting the bus cable 3 11 R Response monitoring 4 30 S Service VIII Symbol files 4 8 SYNC 4 31 ...

Страница 191: ... PB EN en 0605NH T Target group VIII Technical data A 3 Terminating resistor Plug with built in terminating resistor 3 10 Structure 3 12 Text markings X U UNFREEZE 4 31 Unit16 A 7 UNSYNC 4 31 User instructions IX W Wire break 4 30 ...

Страница 192: ...B Index B 6 Festo P BE HGPPI PB EN en 0605NH ...

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