Home Programming


Left ArrowBack to discussions page
Slee2412Slee2412 Posts: 1 Recruit

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_SamsonEtienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
    @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.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
Sign In or Register to comment.
Left ArrowBack to discussions page