Festo EHPS LK Series Instructions & Operating page 22

IO-Link Interface description
Parameters "GrippingPosition"
The gripping position is the value that can either be entered manually in the workpiece or described
using the "TeachGrippingPosition" command. As soon as the position is reached within the "Gripping-
Tolerance", it is returned in the "GrippedPositionFlag" with "StatusWord".
Since the different sizes have different strokes, the permissible values for the parameter depend on
the size. The value range goes from 0 to the total stroke of the gripper in [mm x 100]. The value "0" is
the open state and the maximum value is the closed state.
EHPS-...-A-LK
permissible value range total stroke
Values in open state
Theoretical values in the closed state
Tab. 17 "GrippingPosition" parameter
Parameters "WorkpieceNo"
The number to select a workpiece set.
– 0: Current process data are used.
– 1-32: Data from the corresponding "WorkpieceSet"one are used.
Parameters "GrippingMode"
A movement mode can be set with this parameter.
3 modes are possible:
– Universal operation: "universal"
– External gripping: "external gripping"
– Internal gripping: "internal gripping"
Gripping mode Decimal value
"universal" 100
"internal gripping" 70
"external 60
gripping"
"Invalid" 0
Tab. 18 Gripping modes
Parameters "GrippingForce"
The gripping force can be adjusted in 4 different force levels. Since the gripping force is built up
dynamically via the speed, a change in the gripping force setting also results in a change in speed.
22
16
[mm x 100] 0
[mm x 100] 0
[mm x 100] 2000
Description
Opening and closing movements are carried out with the
force ("GrippingForce") set and thus at the same speed.
The opening movement takes place with the force set in
"GrippingForce" and the (resulting) speed. The closing
movement takes place at maximum speed.
The closing movement takes place with the force specified
in "GrippingForce" and the (resulting) speed. The opening
movement takes place at maximum speed.
–
20
2150 0 2750
... ...
0
2600
Festo — EHPS-...-LK — 2019-08
25
0 3350
...
0
3200