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Home > Programming > 2 Finger Gripper for CB2 (Linear Movement - 360 Rotation Question)
Slee2412

Hello, 

I'm trying to do a linear movement from point A to point B. While the gripper is moving linearly, I need it to be doing a 360 rotation at the same time. I am using the Robotiq 2 Finger Gripper templates because I have the CB2, How would I go about doing this? 

Thank you for your help.
Etienne_Samson

@Slee2412 you could use the script command to close the Gripper without the "and_wait()" option and do a rotation of the last robot joint at the same time, it will probably not be perfectly in sync but that's the best you could do. Otherwise you would need to control your setup with a PC/PLC to perfectly sync robot and gripper motion.

You will see that the gripper_close_and_wait() command will wait for the Gripper motion to be finished before going to the next line in the robot program while the gripper_close() will start the Gripper motion and go to the next line immediately.