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Opening/Closing time specification of the 2F85 Griper
/ Most recent by Etienne_Samson
matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
@Tyler_Berryman do you guys have any specs on how fast the gripper should be able to open and close or what the speed settings relate to? I was doing a demo today for a potential customer and we were seeing it take up to 1.5 seconds to close the gripper from position 100 to 250 at a speed setting of 255. This seems slow to me but I have no specs to compare it against.
Etienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy@matthewd92 you are quite close, we spec 20 to 150 mm/s. I wonder how your measurement method is affected by the robot latency... But thanks for that awesome work, very interesting!Etienne SamsonTechnical Support Director+1 418-380-2788 ext. 207
Here are the results of the testing that I did with this gripper.
I was able to find the issue I was seeing earlier, the template that I was using never set the speed and force, just set a variable which was never used from what I can see. It might have been an older template as this robot is not new.
This was done using the 1.0.10 firmware, and making URScript calls, rq_move_and_wait(255). I will do some further testing using the URCap to see how its speeds relate.