Delay in 3 finger adaptive gripper's movement

adi

Hello,

Hello. I'm using the robotiq 3 finger gripper, in my project I'm sending information collected from flex sensors using rs232 serial communication to the gripper. I'm trying to do this in real time but there is a delay in the moment the gripper gets the informatIion until it actually moves. How can I reduce the delay in the gripper's movement? I'm using modbus tcp communication in the gripper

Thanks,

Adi

Annick_Mottard

Hi Pros,

Here is one thing to watch when sending out commands to the 3-Finger Gripper via Modbus TCP : make sure you establish the communication only once. This procedure takes some time (a matter of a few seconds) and causes a small delay. If you establish the communication every time you want to sent a command, this will look like there is a delay in the gripper's actions. If you use templates and packages, verify the unctions you use so you don't establish the Modbus TCP communication with the gripper at every command sent. 

Feel free to post comments and questions below!

Annick_Mottard

We are currently doing some troubleshooting on this case to figure out what is causing the delay. We will post below when we have an update on the situation. 

adi

Hi Annick, thanks to your answer i finally managed to trace the cause of the delay. It seems that every time i'm gathering feedback from the gripper state i need to apply some delay in the program so the gripper will finish it's current movement