How to close and move with URCap for 2 Finger Model 85

matthewd92

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?

Etienne_Samson

@matthewd92 you still have access to this when using the URCaps, you just to to click or unclick the "complete Gripper motion before next action". This option is at the bottom of your screen, it's quite small so I guess you just missed it.

matthewd92

Thanks @Etienne_Samson I guess I should put my glasses on next time...

Etienne_Samson

@matthewd92 don't worry I already noted from other people that comment, compared to the other options in the URCaps screen this one is quite hard to notice.