DoF - a Robotiq Community
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The Dof Community was shut down in June 2023. This is a read-only archive.
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What version of polyscope and URCap are you using? 
Do you have a camera on this robot? The last URCap for the camera also improve the communication delay with the gripper.

You should also take a look at our
quick release skill that allows lowering the cycle time when releasing a part using the gripper. 
The skill allows to send an open command, and move to the next instruction as soon as the gripper has open enough to release a part instead of having to wait until the gripper is completely open. 
See the skill in action here :