DoF - a Robotiq Community
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Hi @Ameyakarnik,

Did you downloaded and install the URCap i sent you in your previous post
here ?
I also included a video showing how to access and use the function. 
Once the URCap is installed, you'll have accessed to the insertion node from the urcap menu. 
You'll then need to use the spiral search, and teach the final position of the insertion. 
If you want the same behaviour where the robot move up and down between each incrementation as seen in the video , you'll have to enable the peck mode option.