Hello everyone,

I searched a bit on the forum but could not find any mention of my problem. My gripper is used in a machine tending application, it loads and unload a CNC lathe. It has been working for a couple of months but I had the problem since the beginning.

When I go and pick a piece from my table, the gripper closes and the robot lift off the table and goes to the next steps. The problem comes when the gripper closes on the piece. sometimes it acts like the gripper does not apply full power immidiately so the piece is loose in the fingers, but after a moment it applies its full force and the piece is ''firmly'' in the fingers. This often lead to a piece falling off or turning slightly in the grippers, particularly when the piece is heavy or long.

Today we loaded a piece that we already processed in the past months without trouble, but it kept dropping piece after piece while the program did not change.

Is there a way to have the gripper apply full force immediately? I use the script function rq_move_and_wait() which I thought would correct the problem, but should I had a wait time after this function?

Hi @Lavertue

There is no need to add a wait command.
Did you have the speed and force setting to maximum? If you are using script function, you can change these setting using the following commands:
rq_set_force(255)
rq_set_speed(255)

Also are the polyscope and URCap up to date?