How to optimize the communication delay on TM/Omron robot?

There is a communication problem between a Robotiq gripper and a TM/Omron robot.

The problem can be just a delay or a request not working (grip check, position...)

On TM/Omron, the latency below 3 seconds, can be a normal situation. This is mostly due to the time for communication using the converter RS232.

The occurrence of the delay may happen 1 out of 800 times or more.

1. Verify the version of TM Flow.

2. Verify the version of the Robotiq component.

3. Verify the version of the RS232-RS485 adapter.

Old adapter	New adapter

Make a small program where the gripper opens and closes and monitor it.

You can include a grip check feature.

1. Update TM Flow to the latest compatible version.

2. Update the Robotiq component to the latest compatible version.

3. Replace the RS232-RS485 adapter.

4. Try with a different adapter but make sure the new one is from the correct version.

5. Try a different gripper, coupling, and cable.

6. If all still fails, contact the Robotiq support team (support@robotiq.com) and provide the necessary information.