12-
0
20
40
60
80
100
0
50
100
120
G
re
if
ge
sc
h
w
in
d
ig
ke
it
[m
m
/s
]
Greifkraft [%]
CLG 30-006
75
25
Override min.
Override max.
Figure 3: Gripping speed depending on the parameterized gripping force
Gripping speeds above 100% (override) lead to an increased gripping impulse, which can damage
the workpiece and the gripper mechanics.
5.1.3
Cycle Times
The following diagrams show the typical course of the gripping duration and the release duration for different
gripping force settings.
The values shown indicate the typical duration from the processing of the command at the gripping
module to the change of the gripping state. The actual duration varies depending on the workpiece
(rigid or elastic), finger weight, gripping height, etc. For a more precise estimation of the possible
cycle times, tests must be carried out in individual cases.
