Festo HGPPI Series, Инструкция по эксплуатации

Страница: 129 / 192

5. Programming
5−53
Festo P.BE−HGPPI−PB−E N en 0605NH
5.5.4 Two−jaw functions
Function 30: Force−controlled gripping with freely
shiftable centre position
Fig.5/19: Force−controlled gripping with freely shiftable
centre position
Description The gripper grips with a defined gripping force (F). In this
case, only the gripping force of the gripper is controlled.
The position of the gripper jaws can be freely shifted.
F u n c tion 30 p a r a meter s : For c e− c ontrolled g rippin g with freely s hift a ble c entre po s ition
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
Actual values (gripper data
}
PLC)
Actual centre
position
P3.3
Actual opening
P3.4
Actual gripping
force
P3.7
Table5/39: Byte allocation: Force−controlled gripping with freely shiftable centre position