- 11 -
Gripping speeds exceeding 100% (override) lead to an increased gripping impulse that can damage
the part that is being gripped and the gripping mechanism.
5.1.3
Cycle Times
The following diagrams show the typical progression of gripping time and release time for different gripping
force settings.
The displayed values show the typical time from the processing of the command at the gripping
module to the change of the gripping state. The actual time varies depending on the part that is be-
ing gripped (firm or elastic), finger weight, gripping height, etc. For an exact assessment of the possi-
ble cycle times, tests must be carried out in individual cases.
CRG 30-050
CRG 200-085
0
100
200
300
400
500
600
700
800
900
1000
0
2
4
6
8
10
12
Gr
ip
T
im
e (
m
s)
Stroke (mm)
0
20
40
60
80
100
120
140
160
0
2
4
6
8
10
12
Re
le
as
e T
im
e (
m
s)
Stroke (mm)
0
100
200
300
400
500
600
700
800
900
1000
0 2 4 6 8 10 12 14 16 18 20 22
Gr
ip
T
im
e (
m
s)
Stroke (mm)
0
50
100
150
200
250
300
0 2 4 6 8 10 12 14 16 18 20 22
Re
le
as
e T
im
e (
m
s)
Stroke (mm)
