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matthewd92matthewd92 Posts: 754Founding Pro, Tactile Sensor Beta Testers Handy
So we have finally got our first UR3.3 robot and are using the UR+ for the Robotiq gripper.  One question that I can't seem to figure out though is how to open or close the gripper while the arm is moving.  I am used to using rq_move(XX) instead of rq_move_and_wait(XX) when I needed to do that.  There are times when we are doing certain tasks that we want the gripper to either open or close while motion is taking place such as loading a die when we want the gripper to begin to open as we are placing the part so that the part can find its own way home or when we just want to change position and get the gripper ready for the next pick and reduce cycle time by doing both simultaneously.  is this possible with the cap or do we need to just call the script like we used to?

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