Festo HGPPI Series User manual

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

Contents and general safety instructions
I
Festo P.BE−HGPPI−PB−EN en 0605NH
Original German text. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0605NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−HGPPI−PB−EN. . . . . . . . . . . . . . . . . . . . . . .
Order no. 543 300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E FestoAG&Co. KG, D73726 Esslingen,
Federal Republic of Germany, 2006
Internet:http://www.festo.com
E−Mail: [e-mail]
The reproduction of this document and disclosure to third
parties and the utilisation or communication of its contents
without explicit authorization is prohibited. Violations give
rise to compensation. All rights are reserved, in particular the
right to carry out patent, utility model or ornamental design
registration.

Contents and general safety instructions
II Festo P.BE−HGPPI−PB−EN en 0605NH
PROFIBUS,
PROFIBUS−DP ®
are registered trade marks of Profibus International (P.I.)
SIMATIC ®isa registered trade name of Siemens AG

Contents and general safety instructions
III
Festo P.BE−HGPPI−PB−EN en 0605NH
Contents
Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes regarding this manual VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System overview 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 System structure 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Connection and display components of the HGPPI−... 1−4. . . . . . . . . . . . . . . . . .
1.3 Control of the HGPPI−... via the PROFIBUS 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 I/O signals 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Mounting2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Mounting the HGPPI−... 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Mounting the gripper fingers 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Mounting the parallel gripper 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Direct mounting 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Dovetail mounting 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General installation instructions 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Connecting the pneumatic tubing 3−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Connecting the power supply 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connecting to the fieldbus 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Connecting of the HGPPI−... via a branch line 3−13. . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Fibre−optic cable (FOC) connection 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general safety instructions
IV Festo P.BE−HGPPI−PB−EN en 0605NH
4. Commissioning4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Commissioning procedure 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Set the PROFIBUS address and the diagnostic mode of the HGPPI−... 4−4. . . . .
4.3 Installing the GSD file and symbol files 4−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Basic configuration principles 4−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Configuration with a Siemens master 4−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Configuration with STEP 7 4−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Configuring with DP masters of other manufacturers 4−20. . . . . . . . . . .
4.5.3 Instructions for commissioning the PROFIBUS 4−27. . . . . . . . . . . . . . . .
4.5.4 Switch−on behaviour of the fieldbus module 4−28. . . . . . . . . . . . . . . . . .
4.5.5 Watchdog monitoring 4−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6 FREEZE and SYNC 4−31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Commissioning on the fieldbus 4−32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Programming5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Introduction 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Parameters 5−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 System parameters 5−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Setpoint value parameters 5−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Actual value parameters 5−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Gripper coordinate system 5−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Definition of the coordinate system 5−12. . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Alignment 5−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Conversion between coordinates 5−16. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Examples of offset selection 5−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.5 Numerical examples for the various offset settings 5−19. . . . . . . . . . . .
5.4 Programming gripper commands 5−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Principle 5−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 Control word and status word 5−24. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3 Sequential steps for starting a function 5−27. . . . . . . . . . . . . . . . . . . . . .
5.4.4 Stop sequence 5−28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.5 Rules for command execution 5−30
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general safety instructions
V
Festo P.BE−HGPPI−PB−EN en 0605NH
5.5 Function descriptions 5−31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Overview 5−31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.2 Special functions 5−33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.3 Single jaw functions 5−40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.4 Two−jaw functions 5−53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Examples of gripper commands 5−59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Error reset 5−59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Force control gripper finger 2 5−60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Changing speed 5−62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.4 Two−finger command: Force−controlled gripping with fixed
mid−position 5−63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnosisand trouble shooting6−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 General notes on diagnosis 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 On−the−spot diagnosis 6−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Error evaluation Error LED 6−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Diagnosis via PROFIBUS−DP 6−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Diagnosis by evaluating the cyclical I/O data 6−7. . . . . . . . . . . . . . . . .
6.3.2 Device−related diagnosis 6−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Analysis of the diagnostic information with a PLC/IPC 6−11. . . . . . . . . .
6.3.4 Analysis of the diagnosis using the commissioning software 6−12. . . . .
6.4 Malfunctions and trouble−shooting 6−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Responding to malfunctions 6−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 Classification of malfunctions (error word) 6−16. . . . . . . . . . . . . . . . . . .
6.4.3 Malfunction group 1: Hardware fault 6−17. . . . . . . . . . . . . . . . . . . . . . . .
6.4.4 Malfunction group 2: Configuration error 6−18. . . . . . . . . . . . . . . . . . . .
6.4.5 Malfunction group 3: Execution error 6−19. . . . . . . . . . . . . . . . . . . . . . .

Contents and general safety instructions
VI Festo P.BE−HGPPI−PB−EN en 0605NH
7. Programmingusingthe S7 module 7−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Introduction 7−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.1 Project overview 7−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Functional description 7−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Module descriptions 7−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Data module HGPPI_COMMAND−LIST" 7−8. . . . . . . . . . . . . . . . . . . . .
7.2.2 Functional module ‘HGPPI_CONTROL’ 7−11. . . . . . . . . . . . . . . . . . . . . . .
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Data types A−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1 Int16 A−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.2 Uint16 A−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Index B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general safety instructions
VII
Festo P.BE−HGPPI−PB−EN en 0605NH
Intended use
The parallel gripper type HGPPI−... described in this
manual has been designed exclusively for use as a slave
on the PROFIBUS−DP.
The HGPPI−... may only be used as follows:
asintended in industrial environments
inoriginal status without unauthorized modifications.
Only the conversions or modifications described in the
documentation supplied with the product are permitted.
inperfect technical condition
The limits specified for pressures, temperatures, electrical
data, torques, etc. must be observed.
If conventional accessory components, such as sensors and
actuators, are connected, the specified limits for pressures,
temperatures, electrical data, moments, etc. must not be
exceeded.
Please comply with the regulations of the trade associations,
the German Technical Control Board (TÜV), the VDE specifica
tions or relevant national regulations.

Contents and general safety instructions
VIII Festo P.BE−HGPPI−PB−E N en 0605NH
Target group
This description is intended exclusively for technicians
trained in control and automation technology, who have
experience in installing, commissioning, programming and
diagnosing PROFIBUS−DP stations.
Service
Please consult your local Festo service facility if you have any
technical problems.
Notesregardingthismanual
This description contains specific information on the
assembly, installing and commissioning, programming
and diagnosing of the HGPPI−... for PROFIBUS−DP in accor
dance with EN 50170.
Additional information on the PROFIBUS−DP can be found in:
 PROFIBUS−DP configuration guidelines
 the manuals of the master manufacturer

Contents and general safety instructions
IX
Festo P.BE−HGPPI−PB−EN en 0605NH
Important user instructions
Danger categories
This description contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked with a signal word (Warning, Caution,
etc.), printed on a shaded background and marked additio
nally with a pictogram. A distinction is made between the
following danger warnings:
Warning
... This means that failure to observe this instruction may
result in serious personal injury or material damage.
Caution
... This means that failure to observe this instruction may
result in personal injury or material damage.
Note
... 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.

Contents and general safety instructions
XFesto P.BE−HGPPI−PB−EN en 0605NH
Identification of special information
The following pictograms mark passages in the text contai
ning special information.
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
out in any order.
1. Figures denote activities which must be carried out in the
sequence specified.
 Arrowheads indicate general lists.

Contents and general safety instructions
XI
Festo P.BE−HGPPI−PB−EN en 0605NH
The following product−specific terms and abbreviations are
used in this description:
Term/abbreviation Meaning
123 dDecimal DP identifiers or parameter numbers (PNU) are marked with
a subscript d".
123 hHexadecimal DP identifiers or parameter numbers (PNU) are marked
with a subscript h".
O Digital output
Terminatingresistor Resistor for minimizing signal reflections. Terminating resistors must
be installed or switched in at the end of bus segment cables.
Reply telegram Telegram sent from the slave to the master (slave reply)
Task telegram Telegram sent from the master to the slave (order from master)
BCD Binary coded decimal
Bus segment Bus cable between two terminating resistors A bus segment contains
a maximum of 32 stations. A PROFIBUS−DP system consists of at least
one bus segment with at least two stations. Further bus segments can
be connected using repeaters.
I Digital input
I/Os Digital inputs and outputs
GSD file Device master data file in which all specific features of the slave are
stored (e.g. number of I/Os, number of diagnostic bytes etc.).
Consistency A data range, which is defined to be consistent, is transmitted
continuously, i.e. in one bus cycle.
LSB Least significant bit (lower−value bit)
MSB Most significant bit (higher−value bit)
User data 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.

Contents and general safety instructions
XII Festo P.BE−HGPPI−PB−EN en 0605NH
Term/abbreviation Meaning
PROFIBUS address 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

Systemoverview
1−1Festo P.BE−HGPPI−PB−EN en 0605NH
Chapter 1

1. System overview
1−2 Festo P.BE−HGPPI−PB−EN en 0605NH
Contents
1. System overview 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 System structure 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Connection and display components of the HGPPI−... 1−4. . . . . . . . . . . . . . . . . .
1.3 Control of the HGPPI−... via the PROFIBUS 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 I/O signals 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System overview
1−3
Festo P.BE−HGPPI−PB−EN en 0605NH
1.1 System structure
The interface of the HGPPI−... allows the gripper to be coupled
to the PROFIBUS−DP.
1
2
3
1Higher−order controller/
PROFIBUS−DP master
2Programmer/PC
3HGPPI−...
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. System overview
1−4 Festo P.BE−HGPPI−PB−EN en 0605NH
1.2 Connection and display componentsof the HGPPI−...
The diagram below shows the display and connecting
components of the parallel gripper, type HGPPI−...
1Error LED (red)
2Power LED
(green)
3Power supply
(M12x1, 4−pin)
4Fieldbus
connection
(Sub−D, 9−pin)
5Pneumatic
connection:
Supply air
6Pneumatic
connection:
Exhaust air
7Earth terminal
8Cover of the
addressing
switches
9BF−LED (red)
1
2
3
4
56789
Fig.1/2: Display and connecting components

1. System overview
1−5
Festo P.BE−HGPPI−PB−EN en 0605NH
1.3 Control of the HGPPI−... viathe PROFIBUS
With the initial parameterization (initialization) of the
HGPPI−..., a series of parameters are transmitted from
the PROFIBUS−DP master for configuring the gripper. Among
these are some operational data (e.g. operating pressure),
a zero offset for adapting to various gripper finger shapes
and the maximum setpoint value limits.
In the operating phase, the PLC calls technological functions
implemented in the gripper. This ranges from simple func
tions to complex sequences.
With this, any sequences can be compiled. To execute these,
the PLC transmits the desired function number and the neces
sary parameters for execution (= nominal values) in the cyclic
I/O data.
5 words (10 bytes) of output data and 6 words of input data
are exchanged between the gripper and the PLC. The data are
defined as words and must be consistent over the full length.
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. System overview
1−6 Festo P.BE−HGPPI−PB−EN en 0605NH
1.3.1 I/O signals
12 3
4
17 words
5 words
6 words
User program
Output
Input
Initializationparameters
Setpoint valuesin user coordinates
Actual valuesin user coordinates
PLC/IPC
1DP master user program
2Controller
3Program start data
4HGPPI−...
Fig.1/3: Internal sequence control