Im just trying to learn different how to program my UR5 different ways and one way i thought of was having 2 end effectors. Now the robot is currently in a lab and i dont have any grippers or vacuums on it, but what i am using is just a plate bolted to the robot with 2- 4" bolts coming out of it.
 
So basically what im trying to do is, I have 4 nuts on the table i want to pick up a nut spin the head around and pick up the other one , then move to another location set the nut down (if it were putting it into a machine) wait a couple seconds then go back pick up (finished) nut then rotate the head and place other nut and continue on with the program. Ive seen videos out on the internet showing this process but Im having a tough time figuring out on how to do so. I started the program with a pallet wizard but im not sure how to go about rotating the head to pick up part 2 with the second bolt.

Thanks @Nicholas_Francoeur!

Thanks @Nicholas_Francoeur!

@Nicholas_Francoeur  So i went to UR's website and set up an application but im having trouble getting the 2 TCP's set up correctly. The TCP's are set up as followed:
The issue i am having is that when T_1 sets a new part "in machine" it will go back and grab a new part just fine. Whenever part finished signal goes true, T_2 will enter machine but its not in the same position as T_1 was in. I can also add pictures of my "tooling" if needed

@Jstewart, I usually try to teach all my waypoints with the correct TCP active. Note that in your case it would not even be required to have different TCPs that are set. All your Moves could be relative to the flange of the robot.

What was your approach to set the TCPs? Did you use the wizard from that same tab for the position and orientation?

Also when setting TCPs, you should also enter the right center of gravity.

Can you share the robot program you ended up with?

@Nicholas_Francoeur  I tried using both the wizard and also by using a tape measure. Ill attach photos of my " tooling" 

For the CoG i wasnt real worried about that since im only doing this for testing/learning. I know it would probably be a good idea to get into the habit of doing it now.

Here is the robot program:

And here is my EOA tooling 

The urp file would be easier to look into.

For the TCPs there should be no orientation.

oh sorry heres the urp:

@Jstewart, I've tried a similar program on my side and everything works as expected.

I do not have your installation file, but it seems that the TCPs used in your "Move" nodes are not called the same as what you have showed me on the pictures. Can you confirm this is correct on your side?

@Nicholas_Francoeur The file i sent you was the file i received from UR. I can send you the program i just created and then tell me what you think. The program i created is working the way i wanted it to. 

@Jstewart, everything should be working properly in this one. What is the position you would be expecting and what is the position you are getting?

@Nicholas_Francoeur  Yes everything is working correctly whenever i set the orientation on the second tool. So if you look at the photo i sent with the robot, i needed the active tool to be on the bottom. Whenever i would run the program without the orientation it would move to the correct tool but i needed it to rotate so that tool would be on the bottom. It was just keeping wrist three in the same orientation and not rotating. Does that make sense?

@Jstewart, yes that makes sense! Everything is working now then?

@Nicholas_Francoeur Yes! Thanks for the help!