Festo HGPPI Series, Инструкция по эксплуатации

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5. Programming
5−23
Festo P.BE−HGPPI−PB−E N en 0605NH
O u tp u t d a t a for the a bove ex a mple (St a rt= s t a rt byte;
FNo=F u n c tion n u mber)
1 s t word 2nd word 3rd word 4th word 5th word
Start FNo 1st para
meter 2nd para
meter 3rd para
meter 4th para
meter
36
h
10 520 50 0 0
Table5/13: Output data
If the function requires fewer than four parameters, the ones
which aren’t required (in the example, parameters 3 + 4) are
ignored. These parameters should always be set to zero.
The HGPPI−... transfers a status word, four actual values and
the current 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.
I np u t d a t a
V a ri a nt 1 s t word 2nd word 3rd word 4th word 5th word 6th word
1JF
1)
Status word Actual posi
tion gripper
finger 1 Actual posi
tion gripper
finger 2 Actual force
gripper
finger 1 Actual force
gripper
finger 2 Error word
2JF
2)
Status word Actual cen
tre position Actual
opening Current
gripping
force 0 Error word
1) 1JF = Single jaw functions
2) 2JF = Combined two−jaw functions
Table5/14: Input data
The distinction between single jaws and combined two−jaw
functions is explained in more detail in Section 5.5.