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C_ROEHLC_ROEHL Beta Tester Beetle Posts: 3 Apprentice
After our last completed Job, We're noticing that there is quite a long pause after the Gripper opens before the robot moves to its next move position waypoint. We have no pauses or dwells set in our program, it slows us down a bit, was wondering if anyone has seen this or has a resolution for it?


  • David_GariepyDavid_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 189 Handy
    edited December 2017
    Hi @C_ROEHL

    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 : https://www.youtube.com/watch?time_continue=5&v=JoTrSGxxul0

    David Gariépy
    Integration Coach
  • C_ROEHLC_ROEHL Beta Tester Beetle Posts: 3 Apprentice
    Awesome, Thanks @David_Gariepy We'll give that a try!
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