Commissioning; Initial Commissioning; Preparation For Homing; Test Run - Festo HGPLE Serie Instrucciones De Utilizacion

HGPLE
6

Commissioning

Warning
Unexpectedly fast-moving payloads.
Risk of crushing and material damage.
• Remove any foreign objects from the positioning range.
• Do not reach into the positioning range.
• Adjust the parameters of the SFC-DC so that the resulting gripping force holds the
workpiece securely.
The gripping force is dependent on the impact velocity, the lever arm (distance between
the gripper jaws and force application point on the workpiece) and the setpoint specific-
ation of the SFC-DC.
Alternatively, the following can be used to implement the settings:
– Control panel of the motor controller SFC-DC (
– Festo Configuration Tool (FCT) on a PC (
6.1

Initial commissioning

6.1.1

Preparation for homing

• Keep the loads small.
• Set a low speed on the motor controller (1 mm/s up to a maximum of 10 mm/s).
• Keep the positioning paths free.
• Check the axis zero point is not equal to zero and adjust if necessary.
6.1.2

Test run

1. Making the preparations:
– Use operational loads
– SFC-DC: Set the input voltage
– Set the operating parameters.
2. Start the test run.
3. Check the following results:
– Positioning accuracy
– Overshooting of the system
– Speed limits
– Target positions
– Gripping force for secure purchase of the object.
4. If the results are unsatisfactory, eliminate the following (possible) causes:
– Feed speed too high
– Impact velocity in force mode too high
– Workpiece load too high
– Gripper finger load too high
– Gripping forces too high or too low
Festo – HGPLE – 1405a English
Description SFC-DC)
FCT online help).
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