HGPPI Applikationsbeispiele V9 en

HGPPI
Servopneumatic
Parallel Gripper
Application
Examples
Intended use
The application examples are for familiarising oneself with the functions of the
HGPPI. This description gives instructions on command control of the HGPPI.
Installation, startup and diagnosis of the HGPPI are described in the manual 543299.
It is absolutely necessary to observe the safety instructions as well as the intended
use of the module. Please also observe the safety instructions in the manuals for the
pneumatic components used. The HGPPI and the connectable modules and cables
may only be used as follows:
as intended
only for industrial applications
without any modifications by the user.
Permitted are conversions or alterations as described in the documentation
enclosed with the product.
in technically perfect condition.
Comply with national and local laws and technical regulations.
Target group
This description is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming
and diagnosing respective fieldbus stations.
Service
Please consult your local Festo Service if you have any technical problems.
Festo HGPPI
Contents
Intended use _________________________________________________________ 2

Contents ____________________________________________________________ 3
1
HGPPI application examples_________________________________________ 5

1.1
Theoretical example - Gripping forces _____________________________ 7
1.2
Theoretical example - Basic parameters __________________________ 10
1.3
Theoretical example - Power failure ______________________________ 12
1.4
Working with the program examples _____________________________ 14
1.4.1
Basic requirements _______________________________________ 14
1.4.2
Preparing the Siemens controllers ___________________________ 14
1.4.3
Master reset of the CPU 314C-2DP ___________________________ 14
1.4.4
Loading the program examples _____________________________ 15
1.4.5
Adapting the hardware configuration ________________________ 17
1.4.6
Overview of the modules __________________________________ 18
1.5
Program example 1 - Sequence control ___________________________ 21
1.6
Program example 2 - Read/write parameters ______________________ 27
1.7
Program example 3 - Workpiece detection ________________________ 33
1.8
Program example 4 - Reliable application of forces _________________ 37
1.9
Program example 5 - Travel speed _______________________________ 40
1.10
Program example 6 - Internal gripping__________________________ 44
1.11
Program example 7 - Step sequence ___________________________ 48
Index ______________________________________________________________ 49
Festo HGPPI
Contents
Festo HGPPI
HGPPI application examples
The application examples for the parallel gripper HGPPI allow you to get started with
the variety of functions and applications of the gripper quickly and in a practical way.
Knowledge about the following is required to be able to use the application
examples successfully:
Knowledge about the use of Windows 95/98/2000/ME/NT4.0
Basic principles of PLC programming with STEP7
Basic principles of PROFIBUS DP
Required hardware and software

PC, operating system Windows 95/98/2000/ME/NT4.0 with
Minimum: 133MHz and 64MB RAM, free disk memory approx. 65 MB
Ideal: 500MHz and 128MB RAM, free disk memory approx. 65 MB
Software STEP 7 V 5.2 or higher
MPI interface for the PC (e.g. PC adapter)
PLC SIMATIC S7-300 with e.g. CPU 313C-2DP
with 8 digital inputs and outputs
PROFIBUS cable with 2 PROFIBUS plugs
Parallel gripper HGPPI
Simulation of 8 inputs and outputs
Power supply 24 V DC
Festo HGPPI
HGPPI Application Examples
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Example - Configuration of the hardware for the application of the program examples
Pos.
Designation
Source
HGPPI parallel gripper
Festo AG
S7 controller
Festo Didactic, EduTrainer S7-313C-2DP
Simulation box
Festo Didactic, digital simulation box
Power supply unit
Festo Didactic, tabletop power supply unit
Bus cable, PLC HGPPI
Festo Didactic, Profibus cable
You will find more information under:

www.festo.com
www.festo-didactic.com
Festo HGPPI
1.1
Theoretical example Gripping forces
HGPPI Servopneumatic parallel gripper

Topic:
Gripping forces
Description of problem:
Which forces have an effect on the gripper jaws?

Which effect does the supply pressure have on the
gripping force?
Design and mode of operation of the gripper

There is no mechanical forced coupling of the gripper jaws that is typical for standard gripper jaws here in order to enable the variable positioning of each individual
gripper jaw. The result is a pneumatic cylinder system with three pressurised chambers and two pistons. The pressurised chamber in the middle has an effect on both
pistons (see schematic diagram).
For the position sensing of the two gripper jaws, each piston is equipped with an
analogue displacement encoder on the basis of a hall effect sensor. In addition, all
three pressurised chambers have their own pressure sensor. The pneumatic signals
are used for the position controller as well as for the indirect regulation of the
gripping force via the chamber pressures.
Design of the servo-pneumatic parallel gripper HGPPI
The air supply and exhaust for the cylinder chambers are ensured via integrated
proportionally controllable piezo valves. Each chamber is equipped with two 2/2W
valves that are each wired in the same way as a 3/3W proportional valve.
A position controller with subordinate non-linear pressure regulation is used as the
regulation structure. That makes it possible to operate the gripper jaws by the
regulation of either the position or the force.
Festo HGPPI
The force is controlled indirectly via the pressure. The maximum possible gripping
forces depend on the supply pressure. The actual gripping force of the gripper jaws
is reduced by the static friction of the piston seals in the cylinder system.
Greifkraft Versorgungsdruck Haftreibkraft

With the HGPPI, the following main functions can be implemented.
Friction locking
A workpiece is held with a defined force by friction locking. With the HGPPI, the
gripper fingers can be prepositioned via friction locking or a position or force
threshold can be queried.
Mechanical locking
A workpiece gripped using mechanical locking requires the precise positioning of

the gripper fingers. The gripping forces can be monitored to detect collisions.
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External gripper
With external gripping, the gripper fingers are positioned with the HGPPI even in
small spaces. The force is adapted to the workpiece properties.
Internal gripper
With internal gripping, the holding force takes effect from the inside to the outside.
The HGPPI allows the direction of action to be adapted to the gripping forces and the
coordinate system.
Positioning
When gripped, the workpiece can be positioned securely in the gripper jaw stroke
with a positioning accuracy of 0.1 mm.
Festo HGPPI
1.2
Theoretical example Basic parameters

Topic:
Using the basic parameters
How can the closing time be optimised?
Parameters can be set as basic parameters with the system data in the GSD file of the
HGPPI PROFIBUS slave (see user description). The system parameters are initialised by
the PLC master when the HGPPI slave starts up. Functions 3 and 4 can be used to write
or read parameters (also see application example 5, Writing parameters).
System parameters can be set to optimise the positioning speed and build up the
force:
Max. set force ramp F [N/s], P 1.2
Range 1...600 (default value: 100)
Max. set speed vmax [mm/s], P1.3
Tolerance position [0.01 mm], P 1.0
vmax
DF
[N/s]
Basic parameters: force ramp and speed
In the case of the optimisation of time-critical processes or cycle times, as much time
as possible needs to be saved with each movement.
The basic parameter "force ramp" F affects the build-up and reduction of force for
gripping commands with nominal force parameters. When the force ramp is
increased, the set gripping force is established quickly. A reduction of the force ramp
results in the gentle build-up of force for sensitive gripping applications.
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10
When the gripper jaws are positioned or moved, a speed profile is processed.
Depending on the positioning or travel distance, the grippers are accelerated to the
"maximum set speed" vmax and decelerated before this position is reached. With
short strokes, the "maximum set speed" might not be reached. Any change to the
"maximum set speed" will not affect the abruptness of the increase and reduction of
the speed profile.
vmax
t
Speed profile
If the double-jaw command "Function 33" is used for the movement, a speed factor
[%] can be preselected as nominal value parameter. The speed factor applies to a
percentage value of the maximum set speed vmax.
When the single-jaw and double-jaw commands are used for positioning, a position
tolerance factor [%] can be specified for some commands. The position tolerance
factor applies (in percent) to the "tolerance position" in the system parameters set
in the GSD file. The "tolerance position" is determined using a unit of 0.01 mm.
With a "tolerance position" of '50' (0.5 mm) and a position tolerance factor of '80'
(80%), the positioning accuracy has a tolerance of 0.4 mm.
11
Festo HGPPI
1.3
Theoretical example Power failure

Topic:
Voltage failure
fails?
How does the HGPPI react if the load or logic voltage
For the connection to the power supply, the HGPPI has a 4-pin plug.
Power supply
Festo HGPPI
Logic voltage
Load voltage
0V
Screen
12
Reaction of the HGPPI in the event of a load voltage failure

A load voltage failure will result in an error. When the load voltage is restored, the
error can be acknowledged using the "Error reset" command. By resetting the error,
the desired position is set to the actual position and the gripper is held in the current
position in a controlled manner.
Reaction of the HGPPI in the event of a logic voltage failure

In the event of a logic voltage failure, the PROFIBUS DP will fail. In the PROFIBUS DP
master system, the "Slave not available" error can be diagnosed. When the logic
voltage is restored, the HGPPI reacts in the same way as with a restart.
13
Festo HGPPI
1.4
Working with the program
examples

Topic:
Working with the program examples
How can the program examples be used?
1.4.1
Basic requirements
The enclosed PLC programs are designed for controllers with 8 digital inputs and
outputs.
1.4.2
Preparing the Siemens controllers
Controllers: Siemens S7-314C-2DP or similar

Programming software: Siemens STEP7 Version 5.2 or higher
1. Connect the PC and the controller to the PC adapter using the RS232
programming cable
2. Switch on the power supply unit
3. Unlock the EMERGENCY STOP pushbutton (if available)
4. Master reset of PLC memory:
Wait until the PLC has completed its check routines.
1.4.3
Master reset of the CPU 314C-2DP
Press the mode selector after MRES. Hold the mode selector in this position until the
STOP LED lights up for the second time and remains lit continuously (equivalent to
3 s). Then release the mode selector.
You must press the mode selector again within 3 seconds after MRES. The STOP LED
starts flashing quickly and the CPU performs a master reset. Now you can release
the mode selector.
When the STOP LED lights up permanently, the CPU has completed the master reset.
The data of the MMC (Micro Memory Card) is not deleted. This can be triggered by
setting up a connection to the PLC in the "Target system / Display available
stations" menu and deleting all modules in the module folder.
Festo HGPPI
14
1.4.4
Loading the program examples
1. Switch the mode selector to the STOP position

2. Start the programming software
3. De-archive the HGPPI_Application.zip file
Note
Do not use WinZip or a similar program to unpack the *.zip files.
Please use the Siemens STEP7 software.
De-archiving the program examples
File De-archive Select archive (Internet download) HGPPI_Application.zip

Open Select target directory OK De-archive: The de-archived data is stored in
the project directory. OK De-archive: The following objects were de-archived. Do
you want to open them now? Yes
15
Festo HGPPI
4. Select the corresponding hardware configuration and load it into your PLC: e.g.
PLC 314C-2DP
5. Select the program: "Program example X"
6. Select the desired application and load the project into the controller
(the screenshot shows an example)
Target system Load Follow the instructions on the screen
7. Switch the mode selector to the RUN position
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1.4.5
Adapting the hardware configuration
If the hardware configuration in the sample project differs from your CPU or I/O
module, then proceed as follows:
1. Create a new Step7 project.
2. Create a new station, e.g. "S7-300 station" and plan the hardware
configuration.
3. Copy the S7 program folder(s), e.g. "Program example1" into your project.
4. Make any required adjustments to the S7 program, such as e.g. the addresses
of the inputs or outputs. A modified hardware configuration can also project
other address ranges if necessary change the system settings for addressing.
With "symbolic" programming, the addressing in the S7 symbol table can be
adapted. Then perform a consistency check of the modules. Please follow the
instructions in the manual for your controller or the Siemens programming user
interface.
Note
Please observe the training systems for production and process automation from
Festo Didactic. You can choose from a number of individual training media and
courses.
Training media
Textbooks
Basic principles of pneumatic control technology, programmable

logic controllers, basic level
Workbooks
Programmable logic controllers, basic level fieldbus technology AS

interface/Profibus DP
Teaching materials
Basic web-based training principles of electro-pneumatics

FluidSIM 4.0 Pneumatics
Please refer to the current

course programme for the
venues, dates and prices.
Courses
P111
Basic principles of pneumatics and electro-pneumatics
P121
Maintenance and troubleshooting on pneumatic and electro-pneumatic systems
S7-BASIS
SIMATIC S7 Basic principles
S7-INTERM
SIMATIC S7 Intermediate course
S7-BUS
SIMATIC S7 Basic principles of bus technology
GRAFCET
The new procedure description (DIN/EN 60848 standard)
You will find more training media on the Internet:

http://www.festo-didactic.com
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Festo HGPPI
1.4.6
Overview of the modules
Every program example includes the following modules:
Modules of a program example in the Step7 project for the HGPPI
The modules FB10, DB5 and DB10 are required to control the HGPPI gripper. They
concern the control of the nominal values for the gripper, the evaluation of the
gripper's actual values and the list of commands. The controlling of the gripper is
integrated into a new or existing project by copying/inserting the modules FB10 and
DB5. The data module DB10 is created automatically (see the following table).
The other modules are for specific applications and are created automatically. The
function of the application example is programmed in the function module FB1.
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Module
Symbolic name
Description
Function
OB1
MAIN
Organisation module
Program control
OB82
I/O_FLT1
Error OB for monitoring errors of
Without OB82, the CPU switches to
modules capable of being diagnosed
STOP when an error occurs
Error OB for monitoring errors of the
Without OB86, the CPU switches to
decentralised periphery
STOP when an error occurs
Functional module for sample
Controlling the commands or command
application
sequence
Function module
Controlling the handshake
OB86
FB1
FB10
RACK_FLT
Example-specific
HGPPI_CONTROL
for controlling the HGPPI

DB1
Instance data module for function
The instance data module is created
module FB1
automatically when function module

FB1 is called.
DB5
DB10
DB_COMMAND-LIST
DB_HGPPI_CONTROL
Global data module with records for
Gripper commands can be entered as
the user-specific gripper commands
records in the data module.
Instance data module for function
The instance data module is created
module "HGPPI_CONTROL"
automatically when the function

module "HGPPI_CONTROL" is called.
DB100
Test
Global data module with operands for
Information memory
controlling the functions of function

module FB1.
HGPPI_Command-List
HGPPI_Command-List
Table of variables
ONLINE view of the commands
HGPPI_OPERATE
HGPPI_OPERATE
Table of variables
ONLINE view of the communication
OUTPUT_Data
OUTPUT_Data
Table of variables
ONLINE view of the actual and nominal

values
SFC14
DPRD_DAT
System function for the consistent
Used in the function module
reading of data of a DP norm slave
"HGPPI_CONTROL", is created
automatically
SFC15
DPWR_DAT
System function for the consistent
transfer of data to a DP norm slave
automatically
SFC24
TEST_DB
System function for receiving
information via a data module
automatically
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Festo HGPPI
Assignment list Equipment identifier and addressing for Simatic S7-300 CPU314C-2DP
Name:
Date:
Project name:
Digital outputs
Name
Sheet 1 of 3
Equipment identifier
Address
symbol
Simatic CPU 313C/314C-2DP
Digital inputs
Pushbutton
E0.0
Pushbutton
E0.1
Pushbutton
E0.2
Pushbutton
E0.3
E0.4
E0.5
INIT pushbutton
INIT
E0.6
STOP pushbutton
STOP
E0.7
Digital outputs station

Lamp
A0.0
Lamp
A0.1
A0.2
A0.3
A0.4
A0.5
A0.6
A0.7
Festo HGPPI
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1.5
Program example 1 Sequence control

Topic:
Sequence control of the gripper
How can gripper fingers be opened and closed?
A workpiece is gripped. The Open and Close actions are selected with two binary
input signals (E0.0 = OPEN, E0.1 = CLOSE). The current status is to be confirmed via
binary output signals. Additional signal inputs can be used to initialise (E0.6 = INIT,
Reset error) and stop (E0.7 = STOP, Stop_1, Stop_2) the gripper.
Befehl "ffnen"
Befehl "Schlieen"
xM
xM
xOeff
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Festo HGPPI
Handshake
In the sequence module FB1 of the Simatic Step7 program, the handshake between
gripper and PLC master has been programmed for each command. The commands
are predefined in a table of commands. The variable table "HGPPI_OPERATE" is
used to parameterize the table of commands. A command consists of a function
number, the activation of the gripper jaws (single- or double-jaw command) and four
nominal values.
Start
1
ACK
Motion
Complete
Handshake
In the first step, the command number is transferred to the function module FB10
"HGPPI_CONTROL" and the start signal is set. Before the second step is performed,
the system waits for the "ACK" feedback signal from the gripper in order to reset the
start signal. The command is executed and the "Motion Complete" signal is reset.
The execution of the command is complete in the PLC program, when the "Motion
Complete" feedback signal is sent back from one or both of the gripper jaws,
depending on the single- or double-jaw command.
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Functions
Function 1:
Error reset
An error reset deletes the error word in the event of an acknowledgeable error
(E3.xx) and resets the error bit. A double-jaw stop is also performed. If there is no
error, a command with function 1 acts in the same way as a double-jaw stop. The jaw
bits in parameter P2.1 are ignored for function 1.
Parameter function 1: Error reset
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
2nd parameter
3rd parameter
Actual position
finger 1
Actual position
finger 2
Actual force
finger 1
Actual force
finger 2
P3.1
P3.2
P3.5
P3.6
Byte 10
4th parameter
Nominal values (data PLC gripper)

1)
Actual values (data gripper PLC)
1) Jaw specification is not evaluated

For the "Error reset" function, it is not necessary to transfer nominal value parameters.
23
Festo HGPPI
Function 35:
Position to centre point and
open
xM
xOeff
The gripper jaws are positioned to a specified mid-position (xM) and a specified
opening (xOeff).
Parameter function 35: Position to centre point and open
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Desired mid-
Select 2 = 1
position
P2.4
Desired opening
Position tolerance
factor
P2.5
P2.8

-
Actual mid-
Actual opening
position
P3.3
Festo HGPPI
Actual gripping
force
P3.4
P3.7
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Function 31:
Force-controlled gripping
with fixed mid-position
xM
xM
The gripper grips with a specified force (F) and the adjustment of the centre point (xM).
Parameter function 31: Force-controlled gripping with fixed mid-position
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
Byte 7
Byte 8
2nd parameter
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Nominal gripping
Desired mid-
Position tolerance
Select 2 = 1
force
position
factor
P2.14
P2.4
P2.8

-
Actual mid-
Actual opening
position
P3.3
25
Actual gripping
force
P3.4
P3.7
Festo HGPPI
Commands and transfer values

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 0
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
No nominal values are
Nominal value 3 = 0
transferred or evaluated
Nominal value 4 = 0
35
31
Command 1
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Open
Nominal value 1 = 0
Desired mid-position
Nominal value 2 = 2000
Desired opening
Position tolerance factor
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Command 2
Force-controlled gripping Nominal value 1 = 600
Desired gripping force
Nominal value 2 = 0
Nominal value 4 = 0
(all values are "decimal")

In program example 6, function 35 is used with offset.
Festo HGPPI
26
1.6
Program example 2 Read/write parameters

Topic:
Reading and writing parameters
Task:
Which firmware does the HGPPI have?
When servicing is required, the user of the HGPPI should know the serial number
and firmware status of the gripper. Function 4 "Read parameters" can be used to
read these basic parameters of the gripper with command 4 from the list of commands (DB5). The Read and Write actions are activated with two binary input signals
(E0.2 = READ, E0.3 = WRITE). Additional signal inputs can be used to initialise (E0.6
= Reset error) and stop (E0.7 = Stop_1, Stop_2) the gripper. The parameters for
firmware (P1.17+1.18) and serial number (P1.19+1.20) are not included in the system parameters of the GSD file.
For application example 2, the basic parameters for the max. permitted force ramp
F ( P 1.02) and the max. permitted speed vmax (P1.03) can be modified using
command 5.
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Festo HGPPI
Functions
Function 3
Write parameters
With this command, up to two parameters can be written simultaneously. If only one
parameter is written, a "0" (zero) must be specified for the other parameter as a
number (= "No.", byte 7). An entry in the subindex and value is then ignored.
The values of the following parameters can be modified using function 3:
Parameter
Subindex
Description
0..17
System parameters
number
1
Note
Changes to the subindices 0 to 6 take effect immediately. Changes to the subindices

7 to 16 only take effect with the next command.
The attempt to write into another parameter will result in an execution error E3.04.
Please read the notes in the manual for the HGPPI, in the chapter: "Diagnosis and
troubleshooting". The write command is triggered with the start flag in the normal
manner. Both jaw bits must be set for this. It is completed when the HGPPI indicates
"Motion Complete" (MC).
If no error occurs during processing, the HGPPI transfers the written values as a response into the actual values.
If an error occurs during processing, the error number is transferred instead of the
value. At the same time, the HGPPI indicates a malfunction.
Attention
The entered values do not have any storage effect, i.e. with the reinitialisation, the
initialisation values / default values are reactivated.
Parameter function 3: Write parameters
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Parameter 1
Parameter 2
Select 2 = 1
No.
Subindex
Value
No.
Subindex
Value

-
Parameter 1
No.
Festo HGPPI
Subindex
Parameter 2
Value
No.
Subindex
Value
28
Function 4:
Read parameters
With this command, up to two parameters can be read simultaneously. If only one
parameter is read, a "0" (zero) must be specified for the other parameter as a number (= "No.", byte 7). An entry in the subindex is ignored in this case.
The values of the following parameters can be read using function 4:
Parameter
Subindex
Description
0..20
System parameters
0, 2..16
number
Nominal values apart from

start byte
1..7
Actual values apart from

status word and error word
The attempt to read another parameter will result in an execution error (E3.05).
The read command is triggered with the start flag in the normal manner. Both jaw
bits must be set for this.
It is completed when the HGPPI indicates Motion Complete (MC).
If an actual value (parameter group 3) is read, only the value that applied at the time
of the query is output. There is no automatic refreshing if the displayed value
changes.
If no error occurs during processing, the HGPPI transfers the desired values into the
actual values as the response.
If an error occurs during processing, the error number is transferred instead of the
value. At the same time, the HGPPI indicates a malfunction.
Parameter function 4: Read parameters
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Parameter 1
Parameter 2
Select 2 = 1
Number
Number
Subindex
Subindex

-
Parameter 1
Number
29
Parameter 2
Subindex
Value
Number
Subindex
Value
Festo HGPPI

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 1
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
Nominal value 3 = 0
Nominal value 4 = 0
Command 2
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Read parameters
Nominal value 1 = W#16#0111
Firmware high
(hex)
Nominal value 2 = 0
nominal value 3 = W#16#0112
Firmware low
(hex)
Nominal value 4 = 0
Command 3
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Write parameters
max. perm. force ramp
(hex)
Default value (1..600)
max. perm. speed
(hex)
Default value (1...200)
(all values are "decimal", unless otherwise defined)

Note
Festo HGPPI
To enter data, the data type (word) must be specified for S7 programming:
"W#16#0111".
W# Word format
16# Preset value in hexadecimal format
30
The return values can be determined with the S7 variable table "HGPPI_OPERATE".
The reading of the firmware resulted in the following actual values:

Actual value 1
0111h
Firmware high Controller module version
Actual value 2
0105h
V 1.09
Actual value 3
0112h
Firmware high Communication module version
Actual value 4
0104h
V 1.06
The actual values 1 and 3 show the requested parameters. The actual values 2 and 3
are evaluated for the version number of the firmware. The word "0106h" codes the
version number to "1.06".
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Festo HGPPI
The serial number of the HGPPI can be evaluated by the modification of the transfer
values of command 3 with the following nominal values:
Function
DB5
Command
"DB_COMMAND-List"
transfer values
Explanation
Command 1
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Read parameters
Serial number high
(hex)
Nominal value 2 = 0
Serial number low
(hex)
Nominal value 4 = 0
The reading of the serial number resulted in the following actual values:
Festo HGPPI
Actual value 1
0113h
Serial number high
Actual value 2
51-00h
"5 1" is equivalent to the production date

5 = 2005, 6=2006, ..., F = 2015
1 = January, 2 = February, ..., C = December
"0 0" is added to the serial number
Actual value 3
0114h
Serial number low
Actual value 4
001Fh
"00 001Fh" is equivalent to the serial number "31"
32
1.7
Program example 3 Workpiece detection

Topic:
Workpiece detection
Task:
How can the middle of the workpiece be detected or read?
A workpiece is to be gripped in the middle with the HGPPI gripper. The middle of the
workpiece is to be read or programmed using a reference workpiece. In this way, the
mid-position of the gripper is defined for all subsequent workpieces. The "Open"
and "Close" actions can be selected with two binary input signals (E0.1 = OPEN,
E0.2 = CLOSE). An additional input signal allows the middle of the workpiece to be
programmed (E0.0 = CHECK). Additional signal inputs can be used to initialise
(E0.6 = Reset error) and stop (E0.7 = STOP, Stop_1, Stop_2) the gripper.
Workpiece detection
The workpiece is to be gripped in a force-controlled manner with free mid-position

using a double-jaw command function 30 (CHECK signal).
The current actual position values for force-controlled gripping are read and written
into a fixed command record of the list of commands in DB5 as nominal position
values for a command for force-controlled gripping with fixed mid-position
(function 30) and for opening (function 34). For prepositioning, the current actual
opening is increased by +2 mm and applied as the desired position for function 34.
The current actual position is applied as the desired mid-position for functions 31
and 34. The position tolerance factor is set permanently in FB3 for both functions to
100%.
When the determination of the actual values is completed, the gripper is opened
using function 10 (Position).
During operating cycles, the gripper can be prepositioned to the external dimension
of the workpiece using function 34 (OPEN signal). The gripper is closed at the
determined desired "mid"-position using function 31 (CLOSE signal).
33
Festo HGPPI
Functions
Function 30:
Force-controlled gripping
with freely movable midposition
The gripper grips with a specified gripping force (F). Only the gripping force of the
gripper is controlled. The position of the jaws can be moved freely.
Parameter function 30: Force-controlled gripping with fixed mid-position
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Nominal gripping
Select 2 = 1
force
P2.14

-
Actual mid-
Actual opening
position
P3.3
Festo HGPPI
Actual gripping
force
P3.4
P3.7
34
Function 34:
Open
xM
xM
xM
F=0
F=0
xOeff
First, the gripping force (F) is reduced in a controlled manner along with the adjustment of the current mid-position (xM). Then the controller is switched to a positioning of the gripper jaws to Open (xOeff) and Centre point (xM).
Parameter function 34: Open
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Desired mid-
Select 2 = 1
position
P2.4
Desired opening
Position tolerance
factor
P2.5
P2.8

-
Actual mid-
Actual opening
position
P3.3
35
Actual gripping
force
P3.4
P3.7
Festo HGPPI

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 0
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
30
10
31
Command 1
Nominal value 3 = 0
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
with free mid-position
Nominal value 2 = 0
Nominal value 4 = 0
Command 2
Jaw_1 = 1, Jaw_2 = 1
Single-jaw command
Open
Desired position finger 1
Desired position finger 2
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Command 3
Nominal value 2 = actual value1

command 2
34
Nominal value 4 = 0
Command 4
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Open
command 2
Desired opening
command 2
Nominal value 4 = 0

For intermediate storage, the return values of the HGPPI are read as actual values 1-4
of function 30 and transferred to the flag words MW40-46 (also see OB1, network 2).
Festo HGPPI
36
1.8
Program example 4 Reliable application of
forces

Topic:
Reliable application of forces
Task:
How can gripper fingers be positioned and gripping forces be applied?
A workpiece is to be gripped from a pallet. The gripper's movement range is limited.

Therefore the gripper fingers need to be prepositioned. The Open, Close and
Position actions are to be selected with three binary input signals (E0.0 = OPEN,
E0.1 = CLOSE, E0.2 = POSITION). The current status is to be confirmed via binary
output signals. Additional signal inputs can be used to initialise (E0.6 = INIT, Reset
error) and stop (E0.7 = STOP, Stop_1, Stop_2) the gripper.
Gripping with prepositioning
The gripper is to be opened (function 34) and gripped in a force-controlled manner

using a double-jaw command (function 31). The gripper fingers of the HGPPI are
prepositioned in an intermediate position using a single-jaw command (function 10)
so that the handling system can move the gripper down into the pallet or the limited
space of the workpieces.
If the gripper does not need to be moved down into a pallet or between workpieces,
a command with function 32 can be used to preposition the gripper. Then the
workpiece can be gripped.
37
Festo HGPPI
Function
Function 10:
Position
(single-jaw command)
X2
X1
Both jaws can be moved individually (if necessary also simultaneously) to a new
desired position (X).
Parameter function 10: Position
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
2nd parameter
Byte 7
Byte 8
3rd parameter
Byte 9
Byte 10
4th parameter

Select 1 = 1
Nominal position
Position tolerance
Select 2 = 0
finger 1
factor
P2.2
P2.8
Select 1 = 0
Nominal position
Position tolerance
Select 2 = 1
finger 2
factor
P2.3
P2.8
Select 1 = 1
Nominal position
Nominal position
Position tolerance
Select 2 = 1
finger 1
finger 2
factor
P2.2
P2.3
P2.8
Actual position
Actual position
Actual force
Actual force
finger 1
finger 2
finger 1
finger 2
P3.1
P3.2
P3.5
P3.6

-
Festo HGPPI
38

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 0
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
Nominal value 3 = 0
Nominal value 4 = 0
35
31
10
Command 1
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Open
Nominal value 1 = 0
Desired opening
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Command 2
Nominal value 2 = 0
Nominal value 4 = 0
Command 3
Jaw_1 = 1, Jaw_2 = 1
Single-jaw command
Position
Desired position jaw 1
Desired position jaw 2
Nominal value 4 = 0
39
Festo HGPPI
1.9
Program example 5 Travel speed

Topic:
Travel speed
Task:
How quickly can a gripped workpiece be moved?
A workpiece is to be gripped and moved. The Open and Move actions are to be
selected with two binary input signals (E0.0 = OPEN, E0.1 = MOVE). The current
status is to be confirmed via binary output signals. Additional signal inputs can be
used to initialise (E0.6 = INIT, Reset error) and stop (E0.7 = STOP, Stop_1, Stop_2)
the gripper.
The movement of the gripper jaws at constant speed (v), while the workpiece is gripped with a constant force (F, friction locking), is to be implemented with a gripping
force that is below the maximum possible gripping force.
v
F
Movement with force control
For the movement, the gripper jaws are position- and force-controlled simultaneously, i.e. the pistons are moved via the differential pressure of the outer cylinder
chambers and, at the same time, the pressure in the middle cylinder chamber is kept
constant (see application example 1).
Gripping force during travel supply pressure stsatic friction force travel force
Festo HGPPI
40
The gripper jaws are moved from the "actual mid-position" to the "desired midposition". The speed can be specified with a speed factor of 1-100%. The speed
factor is based on the system parameter "maximum permitted speed" that is
defined in the GSD file or that can be changed using the "Write parameter" function
(see application example 2).
The coordinate system for the "desired mid-position" is positive in the direction of
gripper jaw 1 and negative in the direction of gripper jaw 2. The workpiece geometry
must be taken into account for the travel path:
max. travel = max. opening - workpiece width - 2 gripper distance
The gripping distance is the minimum distance between the gripper fingers and the
workpiece with open gripper fingers so that a handling station/robot can move the
gripper without touching the workpiece:
Maximum opening
Workpiece diameter
Gripping distance
= 20 mm
= 10 mm
= 0.5 mm
max. travel = 20 mm - 10 mm - 2 0.5 mm = 9 mm
1
0
+1000
-1000
+475
Sense of direction of the travel path (dimension: 0.01 mm)
Attention
41
If the workpiece geometry is changed, the travel data must be adapted in the
program.
Festo HGPPI
Function
Function 33:
Force-controlled movement
xM
xM
s
The gripper is moved to a specified mid-position (xM) along with the adjustment of
the gripping force (F). A speed factor (s) is specified for this, which defines the
percentage of the maximum speed for the movement.
When function 33 is completed, the speed factor is reset to 100% as the default
value for all other functions.
Parameter function 33: Force-controlled movement
Finger
selection
Byte 3
Byte 4
1st parameter
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
2nd parameter
3rd parameter
4th parameter
Speed factor

Select 1 = 1
Nominal gripping
Desired mid-
Position tolerance
Select 2 = 1
force
position
factor
P2.14
P2.4
P2.8
P2.9

-
Actual mid-
Actual opening
position
P3.3
Festo HGPPI
Actual gripping
force
P3.4
P3.7
42

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 0
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
Nominal value 3 = 0
Nominal value 4 = 0
35
31
33
33
33
Command 1
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Positioning to centre
Nominal value 1 = 0
point and opening
Desired opening
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Command 2
Nominal value 2 = 0
Nominal value 4 = 0
Command 3
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Force-controlled
movement
Speed factor
Command 4
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Force-controlled
movement
Nominal value 2 = -475
Nominal value 4 = 5
Speed factor
Command 5
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Force-controlled
movement
Speed factor
43
Festo HGPPI
1.10
Program example 6 Internal gripping

Topic:
Internal gripping
Task:
How can a workpiece be gripped with an internal gripper?
A workpiece is to be gripped with an internal gripper. The Open and Close actions
are to be selected with two binary input signals (E0.0 = OPEN, E0.1 = CLOSE).
F F
Application example - Internal gripper
The internal gripper has a symmetrical offset to the centre point of the gripper jaws.
The current status is to be confirmed via binary output signals. Additional signal
inputs can be used to initialise (E0.6 = INIT, Reset error) and stop (E0.7 = STOP,
Stop_1, Stop_2) the gripper.
Internal gripper with symmetrical offset, e.g. A = B = 65 mm
The symmetrical offset of the internal gripper is 65 mm for each gripper finger. The
complete opening between the gripper fingers is 130 mm.
The gripper's return value provides the actual opening of the gripper fingers as the
actual value. The user can use it to adapt the coordinate system to the geometry of
the gripper fingers.
Festo HGPPI
44
Actual opening return value
In the example, the actual opening of the gripper fingers shows the actual opening
range of the gripper fingers as the return value from the HGPPI:
with open gripper fingers, i.e. the internal gripper moves the gripper fingers
together, an actual opening of 130 mm is displayed (equivalent to a return value
of "13000"),
with closed gripper fingers, i.e. the internal gripper moves the gripper fingers
apart, an actual opening of approx. 150 mm is displayed (equivalent to a return
value of "15000").
Gripping force for internal

gripping
With internal gripping, the gripping force has an outward effect, i.e. in the opposite
direction of external gripping. That is why, with internal gripping, the parameter for
the desired gripping force is displayed with a negative sign.
In the example, a desired gripping force of 30N (equivalent to a default value of
"-300") is specified.
45
Festo HGPPI
Modify the offset system parameters P07 and P08 in the properties of the DP slave
in the hardware configuration.
Hardware configuration Step7 DP slave
For parameter P07: offset jaw 1 and P08: "6500" is entered for offset jaw 2. "Save
and translate" the hardware configuration and load it into the controller.
Attention
After modifying the offset parameters, the user must change the default values for
the desired opening in relation to the offset parameters!
Change the offset parameters for jaws 1 and 2 back to the default values "0" after
completing the performance test in "programming example 6"!
Festo HGPPI
46

Function
DB5
Command
"DB_COMMAND-List"
transfer values
Command 0
Jaw_1 = 1, Jaw_2 = 1
Error reset
Nominal value 1 = 0
Explanation
Double-jaw command
Nominal value 2 = 0
Nominal value 3 = 0
Nominal value 4 = 0
35
31
Command 1
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Position to centre point
Nominal value 1 = 0
and open
Desired opening
Nominal value 4 = 0
Jaw_1 = 1, Jaw_2 = 1
Double-jaw command
Command 2
Force-controlled gripping Nominal value 1 = -300
Nominal value 2 = 0
Nominal value 4 = 0
47
Festo HGPPI
1.11
Program example 7 Step sequence

Topic:
Sequence with graph7
Task:
Demo program
The sequence of the program commands can also be solved with graph7. The
sequence processes 10 commands in succession as demo program. The commands
can be modified in the variable table: "HGPPI_Command-List".
Festo HGPPI
48
Index
Applying forces .............................. 37
Load voltage .................................. 12
Assignment list .............................. 20
Logic voltage.................................. 12
Basic parameters ........................... 10
MMC............................................... 14
CPU ................................................ 14
Mode selector ................................ 15
De-archiving................................... 15
Motion Complete ........................... 22
Displacement encoder ..................... 7
Offset ............................................. 44
Double-jaw command .................... 11
Position control................................ 7
Error reset ...................................... 26
Power supply ................................. 12
Force control ........................ 8, 40, 43
Reading parameters....................... 27
Force ramp ..........................10, 27, 30
Sequence ....................................... 48
Graph7 ........................................... 48
Sequence control ........................... 21
Gripping force for internal

gripping ......................................... 45
Speed............................................. 10
Speed factor................................... 41
Gripping force regulation ................. 7

Speed profile.................................. 11
Gripping forces................................. 7
Table of variables........................... 22
GSD file .......................................... 41
Tolerance position ......................... 10
Handshake..................................... 22
Travel speed................................... 40
Internal gripper .............................. 44
Workpiece detection ...................... 33
49
Festo HGPPI
Festo HGPPI
50

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HGPPI

Intended use _________________________________________________________ 2

HGPPI application examples_________________________________________ 5

Theoretical example - Gripping forces _____________________________ 7

Theoretical example - Basic parameters __________________________ 10

Theoretical example - Power failure ______________________________ 12

Working with the program examples _____________________________ 14

Basic requirements _______________________________________ 14

Preparing the Siemens controllers ___________________________ 14

Master reset of the CPU 314C-2DP ___________________________ 14

Loading the program examples _____________________________ 15

Adapting the hardware configuration ________________________ 17

Overview of the modules __________________________________ 18

Program example 1 - Sequence control ___________________________ 21

Program example 2 - Read/write parameters ______________________ 27

Program example 3 - Workpiece detection ________________________ 33

Program example 4 - Reliable application of forces _________________ 37

Program example 5 - Travel speed _______________________________ 40

Program example 6 - Internal gripping__________________________ 44

Program example 7 - Step sequence ___________________________ 48

HGPPI application examples

Required hardware and software

HGPPI Application Examples

HGPPI parallel gripper

Festo Didactic, EduTrainer S7-313C-2DP

Festo Didactic, digital simulation box

Power supply unit

Festo Didactic, tabletop power supply unit

Bus cable, PLC HGPPI

Festo Didactic, Profibus cable

You will find more information under:

HGPPI Application Examples

HGPPI Servopneumatic parallel gripper

Which forces have an effect on the gripper jaws?

Design and mode of operation of the gripper

Design of the servo-pneumatic parallel gripper HGPPI

HGPPI Application Examples

Greifkraft Versorgungsdruck Haftreibkraft

A workpiece gripped using mechanical locking requires the precise positioning of

HGPPI Application Examples

HGPPI Application Examples

HGPPI Servopneumatic parallel gripper

Using the basic parameters

How can the closing time be optimised?

Basic parameters: force ramp and speed

HGPPI Application Examples

HGPPI Application Examples

HGPPI Servopneumatic parallel gripper

How does the HGPPI react if the load or logic voltage

HGPPI Application Examples

Reaction of the HGPPI in the event of a load voltage failure

Reaction of the HGPPI in the event of a logic voltage failure

HGPPI Application Examples

HGPPI Servopneumatic parallel gripper

Working with the program examples

How can the program examples be used?

Preparing the Siemens controllers

Controllers: Siemens S7-314C-2DP or similar

Master reset of the CPU 314C-2DP

HGPPI Application Examples

Loading the program examples

1. Switch the mode selector to the STOP position

De-archiving the program examples