Festo HGPPI Series Instructions Manual
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Festo HGPPI Series Instructions Manual

Festo HGPPI Series Instructions Manual

Parallel gripper
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Parallel gripper
Instructions
Parallel gripper
Type HGPPI−...
Fieldbus connection
PROFIBUS DP
per EN 50170
Instructions
543 300
en 0605NH
[697 811]

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Summary of Contents for Festo HGPPI Series

  • Page 1 Parallel gripper Instructions Parallel gripper Type HGPPI−... Fieldbus connection PROFIBUS DP per EN 50170 Instructions 543 300 en 0605NH [697 811]...
  • Page 3 ....... . . 543 300 E Festo AG & Co. KG, D 73726 Esslingen, Federal Republic of Germany, 2006 Internet: http://www.festo.com...
  • Page 4 Contents and general safety instructions PROFIBUS, are registered trade marks of Profibus International (P.I.) PROFIBUS−DP ® SIMATIC ® is a registered trade name of Siemens AG Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 5: Table Of Contents

    Fibre−optic cable (FOC) connection ....... . . 3−14 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 6 5.4.5 Rules for command execution ......5−30 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 7 ....6−18 6.4.5 Malfunction group 3: Execution error ..... . . 6−19 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 8 ............B−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 9 Please comply with the regulations of the trade associations, the German Technical Control Board (TÜV), the VDE specifica tions or relevant national regulations. Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 10 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−...
  • Page 11 ... This means that failure to observe this instruction may result in material damage. The following pictogram marks passages in the text which describe activities using electrostatically−sensitive devices. Electrostatically−sensitive devices: Improper handling can result in damage to components. Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 12 Pictograms Information: Recommendations, 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 ·...
  • Page 13 Telegram data without protocol frame data. The user data are determined when the fieldbus station is configured. Octet Byte (8 bits); basic type for PROFIBUS telegrams PROFIBUS PROcess FIeld BUS; German processing and fieldbus standard defined in the PROFIBUS standard EN 50170 volume 2. Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 14 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 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 15: System Overview

    System overview Chapter 1 1−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 16 ..........1−6 1−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 17: System Structure

    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. 1−3 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 18: Connection And Display Components Of The Hgppi−

    Power LED (green) Power supply (M12x1, 4−pin) Fieldbus connection (Sub−D, 9−pin) Pneumatic connection: Supply air Pneumatic connection: Exhaust air Earth terminal Cover of the addressing switches BF−LED (red) Fig. 1/2: Display and connecting components 1−4 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 19: Control Of The Hgppi−... Via The Profibus

    The factory setting of the data format is the ‘Motorola format’ (the high−order byte first, and then the low−order one). The data format can be changed to the ‘Intel format’. 1−5 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 20: I/O Signals

    User program Initialization parameters 5 words Output Setpoint values in user coordinates 6 words Input Actual values in user coordinates DP master user program Program start data Controller HGPPI−... Fig. 1/3: Internal sequence control 1−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 21 The structure of the data format is summarized in the following table: Data format (Motorola format) 14 13 10 09 04 03 02 01 Byte First byte Second byte Word Word n Table 1/2: Data format 1−7 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 22 1. System overview 1−8 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 23: Mounting

    Mounting Chapter 2 2−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 24 ........2−6 2−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 25: Mounting The Hgppi−

    Steel parts or magnetic fields near the HGPPI−... can impair the displacement measurement, so that the technical data with regard to positioning accuracy cannot be realised. Electrostatically discharge yourself before installing or removing sub−assemblies to protect the sub−assemblies from electrostatic discharge. 2−3 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 26: Mounting The Gripper Fingers

    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. Mounting screws (M3) Gripper finger Centring pin (Ø2) Gripper jaw Fig. 2/1: Mounting the gripper fingers 2−4 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 27: Mounting The Parallel Gripper

    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. 2−5 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 28: Dovetail Mounting

    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. 2−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 29 2. Mounting Parallel gripper HGPPI−... Adapter kit Adapter plate Mounting screws Fig. 2/3: Dovetail mounting of the HGPPI−... 2−7 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 30 2. Mounting 2−8 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 31: Installation

    Installation Chapter 3 3−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 32 ....... . . 3−14 3−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 33: General Installation Instructions

    32 stations (devices). The ends of the bus segment must be fitted with a terminating resistor. Use plugs with a built−in terminating resistor if the HGPPI−... is installed at the end of a bus segment. 3−3 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 34: Connecting The Pneumatic Tubing

    1.2 Nm). 3. Connect the tubing to the HGPPI−... Connecting thread: supply air (e.g. for tubing fitting: QSM−M3−4) Connecting thread: exhaust air (e.g. for silencer U−M3) Fig. 3/1: Pneumatic connection 3−4 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 35: Connecting The Power Supply

    EMERGENCY STOP (e.g. switching off the operating voltage for the valves and output modules, switching off the com pressed air). 3−5 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 36 BU (blue) Screen Connection to BK (black) housing when using the connecting cable SIM−M12−... with maximum cable length < 10 m Connection to the housing via a 1 MOhm resistor Table 3/1: Pin allocation 3−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 37 (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 3−7 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 38: Connecting To The Fieldbus

    Repeater control signal (TTL level) DGND Data reference potential Positive supply voltage (P5V) n.c. Not connected RxD/TxD−N Received/transmitted data N n.c. Not connected Housing Screen Direct connection to the housing Table 3/2: PROFIBUS−DP interface 3−8 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 39 (in kBaud) (in m) in accordance with PNO 1200 19,2 1200 93,75 1200 187,5 1000 1500 3000 − 12000 1) PNO = PROFIBUS user organization Table 3/3: Allocation of maximum segment length to baud rate 3−9 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 40 Caution Use plugs with a terminating resistor if the HGPPI−... is installed at the end of a segment. If you do not require a terminating resistor, use the sub−D plug from Festo, type FBS−SUB−9−WS−PB−K, for connecting. Type Description FBS−SUB−9−WS−PB−K horizontal cable outlet;...
  • Page 41 Make sure that the cable screening lies uninsulated under · the screen clamp. Please observe, if necessary, the instructions enclosed · with the plug. 4−pin terminal Cable screening B O B O Fig. 3/5: Sub−D plug from Festo type FBS−SUB−9−WS−PB−K 3−11 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 42 A in accordance with EN 50 170. Pin 6: Pin 6 Supply voltage Pin 3: RxD/TxD−P Pin 3 Pin 8: RxD/TxD−N Pin 5: DGND Pin 8 Pin 5 Fig. 3/6: Line termination in accordance with EN 50 170, (line A) 3−12 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 43: Connecting Of The Hgppi−... Via A Branch Line

    Please note the maximum permitted branch line lengths. Baud rate Maximum permitted branch line length (in kBaud) (in m) 19,2 93,75 187,5 33,3 1500 3000 ... 12000 not permitted 3−13 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 44: Fibre−Optic Cable (Foc) Connection

    Volume 2, and can therefore be used for controlling network components for fibre optic cables. Example of fibre optic cable network components: Siemens Optical Link Module (OLM) for PROFIBUS plus Siemens Optical Link Plug (OLP) for PROFIBUS. 3−14 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 45: Commissioning

    Commissioning Chapter 4 4−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 46 ........4−32 4−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 47: Commissioning Procedure

    6. Create a user program with a communication module for controlling the gripper. 7. Then begin with the commissioning of the gripper on the fieldbus. Test the connection in online mode. Details can be found in the following sections. 4−3 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 48: Set The Profibus Address And The Diagnostic Mode Of The Hgppi−

    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 PROFIBUS address should be used. 4−4 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 49 The cover conceals the DIL switch for The switches S1 ... S7 are for binary setting the PROFIBUS address. coding the PROFIBUS address. The switch S8 deactivates the Service connection (only for Festo device−specific diagnosis. service staff ) Fig. 4/1: Setting the PROFIBUS address 4−5...
  • Page 50 Table 4/3: Switch settings Note The addresses 126 and 127 are not permissible! The set PROFIBUS address is accepted when the gripper is switched on. Mount the cover after setting the PROFIBUS address. · 4−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 51 Device−related diagnosis active 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. 4−7 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 52: Installing The Gsd File And Symbol Files

    (default: English version). Symbol files In order to represent the HGPPI in your configuration software, you need the following symbol files: Normal operating Diagnostic case Special operating status status File: hgppi_n.dib File: hgppi_d.dib File: hgppi_s.dib 4−8 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 53 If you copy the GSD files although the Simatic Manager has already been started, you can update the hardware catalogue with the command [Options] [Update catalogue]. Table 4/4: Where GSD and bitmap files are stored 4−9 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 54: Basic Configuration Principles

    Input data Status word 1st actual 2nd actual 3rd actual 4th actual Error word value para value para value para value para meter meter meter meter Table 4/5: Telegram format of the HGPPI−... 4−10 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 55 All operands are two bytes long. Data format (Motorola format) Byte 1st byte in telegram (high−order) 2nd byte in telegram (low−order) Word Word n Table 4/7: Data format in Motorola format 4−11 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 56: Configuration With A Siemens Master

    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.

  • Page 57: Configuration With Step 7

    [PROFIBUS DP] [Additional Field Devices] [General] (see Fig. 4/2) In order to insert the HGPPI−... : 1. Click the entry Festo HGPPI 3 and keep the left−hand mouse button pressed. 2. Pull the mouse pointer onto the PROFIBUS line 2 on the DP master and release the mouse button again (drag &...
  • Page 58 4. Mark slot 1 and insert the module Control/Status Data HGPPI". Both slots are allocated by doing that. Symbol for HGPPI−... Entry Festo HGPPI−... from GSD file (Slave with address 5) PROFIBUS DP master system" line Fig. 4/2: STEP 7 hardware configuration 4−14...
  • Page 59 4. Commissioning 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 4−15 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 60 4. Commissioning 5 words are reserved for the output data (setpoint values). Fig. 4/4: Output data address range 4−16 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 61 After opening the Slave properties" of the HGPPI−... you can configure the system parameters. Here, specify your applica tion−dependent operating conditions. 4−17 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 62 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. 4−18 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 63 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 configuration. 4−19 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 64: Configuring With Dp Masters Of Other Manufacturers

    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 in Chapter 5 Programming". 4−20 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 65 1 = the slave should be able to be operated in sync mode Unlock_Req Bit 7 Bit 6 Explanation min TSDR + slave−spec. parameters may be Lock_Req overwritten HGPPI−... blocked for other masters HGPPI−... enabled for other masters Table 4/8: Parameterization data: Station status 4−21 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 66 Table 4/9: Parameterization data: Further standard parameters Slave−specific data: An HGPPI application is configured via slave−specific parame ters (user_prm_data) with 18 system parameters. All parame ters are of type uint16 (WORD) and are summarised in the following table: 4−22 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 67 Jaw 2 max. permissible setpoint force 1) System parameters corresponding with Table 5/3 Index 0 ... 16 Table 4/10: Parameterization data: Slave−specific data Note The first parameter communication settings" is not a component of the system parameter table. 4−23 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 68 HGPPI−... and their sequence are permanently defined and cannot be changed. Slot no. Data range Length Identifier ID no. Input data 6 words 0xD5 0820 Output data 5 words 0xE4 Table 4/11: Slot allocation 4−24 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 69 Fetch diagnostic information (Slave_Diag) The diagnostic data are requested by the HGPPI−... with the function Slave_Diag. A description of this function can be found in section 6.3, Diagnosis via PROFIBUS−DP. 4−25 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 70 RD_Outp Slave_Diag Set_Prm Chk_Cfg Get_Cfg Global_Control Set_Slave_Add Table 4/12: Overview: Implemented functions Bus parameter/reaction times Baud rate (kbps) max TSDR (TBit) min TSDR (TBit) 187,5 1500 3000 6000 12000 Table 4/13: Overview: Bus parameters 4−26 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 71: Instructions For Commissioning The Profibus

    1. Switch on the operating voltage supply for all fieldbus stations. 2. Switch on the compressed air supply for the HGPPI−... 3. Switch on the operating voltage supply of the controller. 4−27 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 72: Switch−On Behaviour Of The Fieldbus Module

    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. 4−28 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 73 Error LED flashing Error? Error LED OFF BF LED flashes slowly Configuration by master? Configuration Error LED flashing BF LED OFF Error LED OFF Data exchange Fig. 4/7: Switch−up behaviour of the fieldbus module 4−29 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 74: Watchdog Monitoring

    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. 4−30 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 75: Freeze And Sync

    The following SYNC command causes the out put image of the master to be updated. Return to normal operation: UNSYNC command 4−31 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 76: Commissioning On The Fieldbus

    Using the function [Monitor/Modify] in online mode of the hardware configuration of STEP 7, input and output data ranges can be commissioned: Monitor the 6 words of input data Control the 5 words of output data. 4−32 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 77: Programming

    Programming Chapter 5 5−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 78 ..........5−63 5−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 79: Introduction

    Table 5/1: 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. 5−3 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 80: Parameters

    Here, access to the system parameters is especially meaningful. Thus, in an application, the speed for individual commands can be adapted or the version number of the gripper can be read out for diagnosis. 5−4 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 81: System Parameters

    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 Parameters". 5−5 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 82 Max. permissible force setpoint value 2 −850 Max. permissible force setpoint value 2 +850 Closed−loop controller module version 0105 Communication module version 0105 Serial number high 5A00 Serial number low 0023 Table 5/3: Overview: System parameters 5−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 83 6. The parameters 13 ... 16 define the lower and upper limits for force setpoint values which the application may specify. ‘1’ and ‘2’ refer to the respective gripper jaw numbers. 7. Sequential serial number allocated by Festo. 5−7 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 84 Max. permissible force setpoint value 2 −850 +850 int16 Closed−loop controller module version 0000 9999 uint16 Communication module version 0000 9999 uint16 Serial number high 0000 9999 uint16 Serial number low 0000 9999 uint16 Table 5/4: System parameter limits 5−8 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 85: Setpoint Value Parameters

    Force threshold gripper finger 1 int16 Force threshold gripper finger 2 int16 The parameter set number and the index (IND) are required as an address for writing or reading the parameter. Table 5/5: Overview: setpoint values 5−9 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 86: Actual Value Parameters

    Actual centre position 0.01 int16 Actual opening 0.01 int16 Actual force gripper finger 1 int16 Actual force gripper finger 2 int16 Actual gripping force int16 Error word uint16 Table 5/6: Overview: Actual values 5−10 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 87: Gripper Coordinate System

    ‘gripper jaw 1’ (left) and ‘gripper jaw 2’ (right). The gripper fingers are defined as ‘gripper finger 1’ and ‘gripper finger 2’, respectively. Gripper jaw / gripper finger 1 Gripper jaw / gripper finger 2 Fig. 5/1: Front view of HGPPI gripper 5−11 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 88: Definition Of The Coordinate System

    Depending on the gripping command, the transferred coordinates are either absolute positions of the individual gripper fingers (single jaw commands) or a combination of the mid−position and opening (gripping commands). 5−12 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 89 (shiftable) offset. For this reason, the setpoint value limits should always be specified in jaw coordinates. The controller checks the setpoint value limits accordingly only after the offset has been calculated. 5−13 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 90 Opening of gripper fingers 1+2 Distance of the insides of both gripper fingers Position centre point gripper Distance of the mid−point of both fingers to the gripper finger zero point Table 5/8: Coordinate system dimensions 5−14 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 91: Alignment

    Positive forces act toward the inside (F1+) toward the gripper zero point Force gripper 2 Gripper is free Positive forces act toward the inside (F2+) toward the gripper zero point Table 5/9: Coordinate system alignment 5−15 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 92: Conversion Between Coordinates

    Desired position 2 (F) = 0.5 x Desired opening (F) Desired pos. Centre (F) Actual opening (F) = Actual position 1 (F) + Actual position 2 (F) Actual position centre (F) = Actual position 1 (F) 0.5 x Actual opening (F) 5−16 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 93: Examples Of Offset Selection

    No gripper finger offset, external gripping Gripper finger 1 Gripper finger 2 Fig. 5/5: Offset = 0 Positive offset of both gripper fingers, external gripping Gripper finger 1 Gripper finger 2 Fig. 5/6: Offset > 0 5−17 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 94 Positive offset gripper finger 1, external gripping Negative offset gripper finger 2, external gripping Gripper finger 1 Gripper finger 2 Fig. 5/8: Offset gripper finger 1 > 0, offset gripper finger 2 < 0 5−18 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 95: Numerical Examples For The Various Offset Settings

    Jaw 1 positive Offset Jaw 1 positive Offset Offset 2 Offset 2 = −300 Largest Largest = 2200 2200 +600 1800 Jaw 2 negative Offset Offsets are asymmetric +200 1800 Table 5/10: Numerical examples specified mid−position 5−19 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 96 Jaw 1 positive Offset Jaw 1 positive Offset Offset 2 Offset 2 = −300 Largest Largest = 2200 2200 +100 +700 Jaw 2 negative Offset Offsets are asymmetric 1500 +750 Table 5/11: Numerical examples specified opening 5−20 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 97: Programming Gripper Commands

    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 the setpoints that must be transferred for all functions. 5−21 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 98 4) The position tolerance is defined as a percentage (1 ... 100%) of the initialization parameter P1.0. Table 5/12: Positioning example For execution, the PLC transfers these values to the output data. The function number and start byte are summarised in the first output word. 5−22 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 99 1) 1JF = Single jaw functions 2) 2JF = Combined two−jaw functions Table 5/14: Input data The distinction between single jaws and combined two−jaw functions is explained in more detail in Section 5.5. 5−23 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 100: Control Word And Status Word

    Stop active for gripper jaw 1 (active at 0 signal) Bit 5 Stop 2 Stop active for gripper jaw 2 (active at 0 signal) Bit 6 Reserved − Bit 7 Reserved − Table 5/16: Start byte 5−24 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 101 In the force tolerance window Bit 13 Motion Complete (MC) Bit 14 Stop active Bit 15 Reserved 1) MC means that the movement or command was completed after the tolerance window was reached. Table 5/17: Status word 5−25 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 102 Gripper finger 1 Switching point reached DBX1.5 Gripper finger 1 In the position tolerance window DBX1.6 Gripper finger 1 In the force tolerance window DBX1.7 Gripper finger 1 Motion Complete Table 5/18: Status word structure 5−26 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 103: Sequential Steps For Starting A Function

    0, to prepare for the next command start. The gripper will update the bit Acknowledge command" (ACK) accordingly. Only when it is set to 0 can a new starting edge be detected. Table 5/19: Sequence description of start command 5−27 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 104: Stop Sequence

    Stop active" is reset (speed = 0, jaws in tolerance window). Table 5/20: Sequence description of stop command 5−28 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 105 · function remains as it is for the two−jaw stop until the stop bit is reset. In the case of the single jaw stop, the actual value configuration corresponds to a single jaw command. 5−29 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 106: Rules For Command Execution

    If a time−out is determined, no error is generated. The HGPPI−... is ready for new commands again. The user can recognize the situation by the fact that Motion Complete" is not set within 1 second for these functions. 5−30 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 107: Function Descriptions

    Select 2 Select 1 Addressed executed (gripping, opening, etc.). The parame Error ters contain in part the gripping force of the grip Error per jaw, opening and mid−position. Error Gripper fingers Table 5/21: Function assignment 5−31 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 108 Force−controlled gripping with freely shiftable centre position Force−controlled gripping with fixed mid−position Force−controlled gripping with fixed mid−position and pre−positioning Force−controlled travel Opening Positioning at mid−point and opening Non−specified numbers are reserved Table 5/22: Function overview 5−32 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 109: Special Functions

    Each parameter is specified with its designation and parameter number. The parameter number agrees with the indexes of the Table 5/5 and Table 5/6. These tables describe which values are reasonable for the parameters. 5−33 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 110 Bytes 5 and 6: Actual position P3.2 [0.01 mm] gripper finger 2 Bytes 7 and 8: Actual force P3.5 [0.1 N] gripper finger 1 Bytes 9 and 10: Actual force P3.6 [0.1 N] gripper finger 2 5−34 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 111 Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 1) Gripper finger selection is not evaluated Table 5/23: Byte allocation: Error reset 5−35 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 112 If only one parameter is written, in the other parameter, a ‘0’ (zero) must be specified for the number of the parameter set (= ‘No.’, byte 7). Entries in IND and value are then ignored. 5−36 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 113 At the same time, the HGPPI−... goes into error status. Caution The entered values are not stored, i.e. when the initializa tion is run through again, the initialization values or default values are reactivated. 5−37 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 114 Select 2 = 1 Value Value Actual values (gripper data } PLC) Parameter 1 Parameter 2 Value Value No. = parameter set no., IND = index in accordance with the table Table 5/25: Byte allocation: Read parameters 5−38 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 115 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. 5−39 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 116: Single Jaw Functions

    Actual values (gripper data } PLC) Actual position Actual position Actual force Actual force gripper gripper finger 1 gripper finger 2 gripper finger 1 finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/26: Byte allocation: Positioning 5−40 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 117 Actual values (gripper data } PLC) Actual position Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/27: Byte allocation: Force regulation 5−41 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 118 Desired position actual position Actual force threshold Desired position < actual position Actual force threshold Table 5/28: Threshold monitoring If the threshold is already exceeded at the beginning of the command, then the bit is set from the beginning. 5−42 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 119 Actual values (gripper data } PLC) Actual position Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/29: Byte allocation: Positioning with force monitoring 5−43 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 120 Actual position threshold Setpoint force < 0 Actual position threshold Table 5/30: Threshold monitoring If the threshold is already exceeded at the beginning of the command, then the bit is set from the beginning. 5−44 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 121 Actual values (gripper data } PLC) Actual position Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/31: Byte allocation: Force control with position monitoring 5−45 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 122 Actual position threshold Table 5/32: Threshold monitoring If the threshold is already exceeded at the beginning of the command, then the bit is set from the beginning and the second setpoint force takes effect immediately. 5−46 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 123 Actual position Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/33: Byte allocation: Position−dependent change in force setpoint value 5−47 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 124 1 factor Gripper finger 1 P2.2 P2.8 P2.10 Select 1 = 0 Setpoint position Position tolerance setpoint force Select 2 = 1 gripper finger 2 factor gripper finger 2 P2.3 P2.8 P2.12 5−48 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 125 After reaching the target position, the threshold monitoring function is deactivated again. The dis play value of the bit remains as it is until the next command. The following cases apply for the threshold monitoring function: 5−49 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 126 Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/36: Byte allocation: Position−dependent switching from position to force setpoint value 5−50 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 127 Setpoint force < 0 Actual position threshold Table 5/37: Threshold monitoring If the threshold is already exceeded at the beginning of the command, then the bit is set from the beginning and position control is activated immediately. 5−51 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 128 Actual position Actual force Actual force gripper finger 1 gripper finger 2 gripper finger 1 gripper finger 2 P3.1 P3.2 P3.5 P3.6 Table 5/38: Byte allocation: Position−dependent switching from force to position setpoint value 5−52 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 129: Two−Jaw Functions

    Select 2 = 1 force P2.14 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/39: Byte allocation: Force−controlled gripping with freely shiftable centre position 5−53 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 130 Select 2 = 1 force position factor P2.14 P2.4 P2.8 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/40: Byte allocation: Force−controlled gripping with fixed mid−position 5−54 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 131 P2.4 P2.5 P2.8 P2.14 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/41: Byte allocation: Force−regulated gripping with fixed centre position and pre−positioning 5−55 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 132 Select 2 = 1 force mid−position factor P2.14 P2.4 P2.8 P2.9 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/42: Byte allocation: Force−controlled movement 5−56 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 133 Setpoint opening Position tolerance Select 2 = 1 position factor P2.4 P2.5 P2.8 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/43: Byte allocation: Opening 5−57 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 134 Select 2 = 1 mid−position factor P2.4 P2.5 P2.8 Actual values (gripper data } PLC) Actual centre Actual opening Actual gripping position force P3.3 P3.4 P3.7 Table 5/44: Byte allocation: Positioning at mid−point and opening 5−58 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 135: Examples Of Gripper Commands

    Output data for error reset at rising starting edge 1st word 2nd word 3rd word 4th word 5th word Start 1st parameter 2nd parameter 3rd parameter 4th parameter Table 5/47: Output data at rising starting edge 5−59 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 136: Force Control Gripper Finger 2

    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 Table 5/48: Start byte at rising edge 5−60 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 137 Output data for force regulation gripper finger 2 at rising starting edge 1st word 2nd word 3rd word 4th word 5th word Start 1st parameter 2nd parameter 3rd parameter 4th parameter Table 5/50: Output data 5−61 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 138: Changing Speed

    Table 5/52: Parameter allocation: Change speed Change output data for speed at rising starting edge 1st word 2nd word 3rd word 4th word 5th word Start 1st parameter 2nd parameter 3rd parameter 4th parameter Table 5/53: Output data 5−62 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 139: Two−Finger Command: Force−Controlled Gripping With Fixed Mid−Position

    Output data for force−controlled gripping with fixed mid−position at rising starting edge 1st word 2nd word 3rd word 4th word 5th word Start 1st parameter 2nd parameter 3rd parameter 4th parameter Table 5/56: Output data 5−63 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 140 5. Programming 5−64 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 141: Diagnosis And Trouble Shooting

    Diagnosis and trouble shooting Chapter 6 6−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 142 ....6−18 6.4.5 Malfunction group 3: Execution error ..... . . 6−19 6−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 143: General Notes On Diagnosis

    The status word includes an error bit. Via the fieldbus, extended diagnostic information can be requested. Besides the error word, this also includes the HGPPI−... version numbers and additional data. 6−3 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 144: On−The−Spot Diagnosis

    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. 6−4 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 145: Error Evaluation Error Led

    Table 6/3: Operating status Error LED 6.2.1 Error evaluation Error LED If there is a malfunction, this is indicated by the flashing Error LED on the front side. The flashing sequences are defined according to the error elimination options. 6−5 Festo P.BE−HGPPI−PB−EN en 0605NH...
  • Page 146 Correct the configuration data in the master configuration data and reestablish PROFIBUS communication. Hardware error Exchange module/HGPPI 7x, 8x, 9x reserved Internal error, firmware error Servicing required Table 6/4: Flashing sequences of the Error LED 6−6 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 147: Diagnosis Via Profibus−Dp

    A description of the error word can be found in Section 6.4.2. The application program in the PLC can cyclically monitor the bit 0 (‘malfunction’). If it is set, it can execute a reaction, which depends on the malfunction number. 6−7 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 148: Device−Related Diagnosis

    The version number is BCD−coded Example 0105 for V1 05 Example 0105 for V1.05 Version of closed−loop commun. module, low byte reserved reserved for extensions Table 6/6: Structure of the slave diagnosis 6−8 Festo P.BE−HGPPI−PB−EN en 0605NH...
  • Page 149 The GSD file includes a description for all defined error num bers, as well as for a series of version numbers. Note The support information is internal and serves to support Festo in an extended diagnosis, if required. Standard diagnosis details Station status 1 Contents Explanation Diag.Station_Non_Existent...
  • Page 150 1 = Freeze activated Diag.Sync_Mode 1 = Sync activated reserved 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 6−10 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 151: Analysis Of The Diagnostic Information With A Plc/Ipc

    (outgoing malfunction). The extended diagnostic data (byte 6 ... 15) are only transferred in the case of a incoming malfunction. Diagnosis with SIMATIC S7 SIMATIC S7 supports diagnosis with the SFC13 ‘DPNRM−DG’. 6−11 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 152: Analysis Of The Diagnosis Using The Commissioning Software

    In the case of a Siemens S7 master, the diagnosis is carried out in the Simatic Manager of STEP 7 (V5.3) via the menu command [PLC] [Diagnostic/Setting] [Hardware Diagnostics]. The HGPPI−... must be selected there with the error" status. 6−12 Festo P.BE−HGPPI−PB−EN en 0605NH...
  • Page 153 ‘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. 6−13 Festo P.BE−HGPPI−PB−EN en 0605NH...
  • Page 154 6. Diagnosis and trouble shooting 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). 6−14 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 155: Malfunctions And Trouble−Shooting

    Whether a malfunction can be acknowledged in the HGPPI−... depends on the malfunction. Hardware errors or an incor rectly set bus address cannot be reset. In this case, the HGPPI−... must be switched off, the cause eliminated and the HGPPI−... switched back on. 6−15 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 156: Classification Of Malfunctions (Error Word)

    Example: E3.01 = impermissible function or jaw Caution The error word can not be read out with function 3. It must be read out of the cyclical I/O data or from the extended diagnostic data. 6−16 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 157: Malfunction Group 1: Hardware Fault

    Error occurred while initializing the module or HGPPI−... hardware, etc. E1.04 Reserved E1.253 E1.254 Closed−loop controller module: Servicing required Internal fault or firmware error E1.255 Communication module: Servicing required Internal fault or firmware error Table 6/12: Hardware fault 6−17 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 158: Malfunction Group 2: Configuration Error

    PROFIBUS communication. E2.10 = P00 E2.11 = P01 E2.12 = P02 E2.25 = P15 E2.26 = P16 *) Whether E2.01 and E2.02 are displayed depends on the used master. Table 6/13: Configuration errors 6−18 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 159: Malfunction Group 3: Execution Error

    Check the setpoint value and · outside of the limits defined by the correct it. user. Check the setpoint value limit in · the parameter data and correct, if necessary, and re−establish PROFIBUS communication. Table 6/14: Execution errors 6−19 Festo P.BE−HGPPI−PB−EN en 0605NH...
  • Page 160 6. Diagnosis and trouble shooting 6−20 Festo P.BE−HGPPI−PB−EN en 0605NH...

  • Page 161: Programming Using The S7 Module

    Programming using the S7 module Chapter 7 7−1 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 162 ..... 7−8 7.2.2 Functional module ‘HGPPI_CONTROL’ ..... . . 7−11 7−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 163: Introduction

    7. Programming using the S7 module Introduction In order to make it easier to commission the HGPPI−... , Festo provides a SIMATIC STEP 7 Project with an example applica tion. The STEP 7 Project includes functional and data modu les for controlling the HGPPI−... via PROFIBUS−DP with a SIMATIC−S7 controller.
  • Page 164 DB100 Global data module with operands for testing the functio For faster commissioning, nal module "HGPPI_CONTROL" operands can be adapted for in accordance with the variable the sequence control by the table "HGPPI_OPERATE". user. 7−4 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 165 SFC24 in the functional module HGPPI_CONTROL". The length of the command data in the data module DB_COMMAND−LIST" are not checked then. The user must make sure the data have the correct length. 7−5 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 166: Functional Description

    HGPPI module User_Application Execute Generate command no..command list DB5: FB 10: Setpoint value Command HGPPI_Control (commands list Data transfer via PROFIBUS with SFC 14/SFC 15 Fig. 7/2: Module call FB10 HGPPI_CONTROL" 7−6 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 167 The module FB10 (HGPPI_Control) is the actual controlling functional module for the HGPPI−... It transfers all parameters of the command which is to be executed into the output data and executes the start handshake. 7−7 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 168: Module Descriptions

    FB5 has to be adapted. The actual sequence control remains unchanged. This offers you enormous flexibility and can save a lot of memory in the PLC in complex applications. 7−8 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 169 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 7−9 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 170 The contents of DB5 can be changed ONLINE, e.g. via a display. The FB10 accesses the data only when there is a rising edge at the signal input ‘Start’. 7−10 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 171: Functional Module 'Hgppi_Control'

    7. Programming using the S7 module 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’ 7−11 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 172 Jaw2_Force_Tol OUT (output) BOOL Gripper finger 2 within force tolerance Actual_1 OUT (output) Actual value 1 Actual_2 OUT (output) Actual value 2 Actual_3 OUT (output) Actual value 3 Actual_4 OUT (output) Actual value 4 7−12 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 173 A gripper error is displayed with the output Fault", and the corresponding error number at the output FaultID". 7−13 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 174 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−..7−14 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 175 7. Programming using the S7 module Fig. 7/5: View of the variables table for activating the FB10. 7−15 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 176 7. Programming using the S7 module Fig. 7/6: Variable table for changing the command list 7−16 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 177 To do this, you can adapt the module HGPPI_user_application to suit your require ments. The HGPPI_Control module should not be chan ged, since it contains the activation of the HGPPI−... via Profibus. 7−17 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 178 7. Programming using the S7 module 7−18 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 179 Technical appendix Appendix A A−1 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 180: A. Technical Appendix

    ..........A−7 A−2 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 181: A.1 Technical Data

    Dimensions approx. 101 x 92 x 38 mm Weights 650 g Mass moment of inertia 7.8 kgcm" Mounting position Pneumatic connection Operating pressure 5 ... 6 bar Operating medium Dried air, lubricated or unlubricated A−3 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 182 Nominal voltage, load supply +24 V DC _ 25% Nominal voltage, logic supply Residual ripple Maximum current consumption, load 0.07 A Maximum current consumption, logic 0.2 A Duty cycle 100% Maximum line length < 10 m A−4 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 183 Baud rate 9,6 ... 12000 kbps, automatic baud rate identification Line length (depending on baud rate and up to 1.2 km cable type) Loading capacity of positive power supply max. 100 mA (P5V) pin 6 A−5 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 184: A.2 Data Types

    Octet 1 Octet 2 SN (sign): 0 = positive numbers or zero, 1 = negative numbers The highest−value bit (MSB) is the bit after the sign bit (SN) in the first octet. A−6 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 185: A.2.2 Uint16

    A. Technical appendix A.2.2 Uint16 Data type Coding Range of values Resolution Length Uint16 0 ... 65535 2 octets An unsigned16−value is a 16−bit unsigned whole number. Octet 1 Octet 2 A−7 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 186 A. Technical appendix A−8 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 187 Index Appendix B B−1 Festo P.BE−HGPPI−PB−E N en 0605NH...

  • Page 188: B. Index

    B. Index B−2 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 189 ........4−8 , 4−9 B−3 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 190 ......... 4−31 B−4 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 191 ........4−30 B−5 Festo P.BE−HGPPI−PB−E N en 0605NH...
  • Page 192 B. Index B−6 Festo P.BE−HGPPI−PB−E N en 0605NH...

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