Opening/Closing time specification of the 2F85 Griper

matthewd92 · December 2016

@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 · December 2016

@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!

Annick_Mottard · December 2016

@matthewd92 what is the force setting on your gripper during this motion?

matthewd92 · December 2016

@Annick_Mottard 255

matthewd92 · December 2016

So I set up a simple program that fully closes the gripper (255) from a fully open position (0). I set the Force to both 0 and 255 then recorded times using a background thread timer set to increment at 125 Hz.

Here are the results of the testing that I did with this gripper.

Image: https://us.v-cdn.net/6027406/uploads/editor/k7/9qfa5xgloy4m.png

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.

Still curious to see how this compares to the specifications for the unit.

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Opening/Closing time specification of the 2F85 Griper

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