Use Cases - Festo EHPS LK Series Instructions & Operating

IO-Link Interface description
9.6.1

Use cases

"LatchData" (bit 48)
– "WorkpieceNo = 0"
With this command, the transferred process data are accepted as an active data set.
"WorkpieceNo > 0"
–
This command accepts the data stored in the "WorkpieceSet" as an active data set.
"Store" (bit 49)
– "WorkpieceNo = 0"
This command is not possible for the "WorkpieceSet= 0" è "ErrorNumber": 776
– "WorkpieceNo > 0"
Specific data ("GrippingMode", "GrippingPosition", "GrippingTolerance", "GrippingForce") for
different workpieces can be stored in the "WorkpieceSet". The data set accepted with
"LatchData"is transferred to the corresponding parameters during execution by "Store".
"ResetDirectionFlag" (bit 50)
The gripper stores the last travelled direction. After the "Close" command, the "Open" command
must follow and vice versa. If, for example, it is necessary to move the jaws in the same direction when
changing a workpiece, the "DirectionOpenFlag" or "DirectionCloseFlag" direction flag can be reset via
the "ResetDirectionFlag" command. Then a movement in the previous direction is possible again.
"TeachGrippingPosition" (bit 51)
– "WorkpieceNo = 0"
This command is not possible for the "WorkpieceSet= 0".
– "WorkpieceNo > 0"
The stored parameter"GrippingPosition" in the "WorkpieceSet" can be written by this command.
The "ActualPosition" value on execution of "TeachGrippingPosition" is transferred to the "Grip-
pingPosition" parameter of the selected "WorkpieceSet".
Reaching of this gripping position can be checked in the "StatusWord" with the "GrippedPosition-
Flag" marker.
"FindNewEndPositions" (bit 55)
If required (for example in the case of reduced installation space), the end positions can be redefined
with this command so that the desired layers are returned with the "ClosedPositionFlag" and "Opene-
dPositionFlag" flags in the "StatusWord".
This command "FindNewEndPositions" moves the gripper open-close and open again. From the open
position, the gripper moves exclusively closed-open. The minimum and maximum values approached
in this way are transferred to the internal memory as new end positions.
The positions are reset by executing the command again, whereby the gripper can again move its max-
imum stroke without a previous stop.
"Open" (bit 56)
With this command, the gripper moves the jaws to the outer position (opening).
"Close" (bit 57)
With this command, the gripper moves the jaws to the inner position (closing).
Festo — EHPS-...-LK — 2019-08 17