Is anyone seeing a lag or a long pause after the 2F-85 Gripper opens?

C_ROEHL

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_Gariepy

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

C_ROEHL

Awesome, Thanks @David_Gariepy We'll give that a try!