How to actuate gripper without stopping robot motion ?

If you place a gripper node inside a continuous move with bending radius, the motion will stop on the gripper node and it may trigger robot safety.

The easiest way is to place gripper node before or after robot move to avoid the problem. However sometime you may like to control the gripper inside the move where you know you can actuate the gripper without any possible collision.

How to actuate gripper without stopping robot motion ?

I would like to share with you a sample program which is using a stread:

to execute a gripper command on a waypoint inside a continuous move
to stop the robot motion on a waypoint and wait for the gripper complete its action before moving to the next point

Here below is the video of the sample program:

Program details:
gripActPos: Waypoint where the gripper action is performed
gripWaitPos: Waypoint where the robot wait for the gripper action to complete

If actPosDist < 0.05 : if the distance is between the TCP and gripActPos is less than 0.05m the gripper action start. You can change this distance. Make sure it is more than your turning radius.
Elseif waitPosDist < 0.15 : if the distance is between the TCP and gripWaitPos is less than 0.15m and if the gripper action is not completed the robot speed is set to almost 1%. You can change distance and robot speed. Make sure it is more than your turning radius.