# Detach gripper and attach another one

**URL:** <https://tech-community.robotics.abb.com/t/detach-gripper-and-attach-another-one/7834>\
**Category:** RobotStudio\
**Created:** [July 27, 2017, 1:21pm UTC](https://tech-community.robotics.abb.com/t/detach-gripper-and-attach-another-one/7834 "2017-07-27T13:21:33Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Radek\_C](https://avatars.discourse-cdn.com/v4/letter/r/3e96dc/32.png) [@Radek\_C](https://tech-community.robotics.abb.com/u/Radek_C)\
**Post date:** [July 27, 2017, 1:21pm UTC](https://tech-community.robotics.abb.com/t/detach-gripper-and-attach-another-one/7834/1 "2017-07-27T13:21:33Z")

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Hi, I have IRB120 without tool and I want to attach gripper X from position 1 and then detach him in pos 2. The same thing with gripper Y. Both are mechanisms. I tried to create smart components with some attach, detach and linesensors signal but it didn’t work.

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**Author:** ![ko414du4](https://avatars.discourse-cdn.com/v4/letter/k/e19b73/32.png) [@ko414du4](https://tech-community.robotics.abb.com/u/ko414du4)\
**Post date:** [July 28, 2017, 5:58am UTC](https://tech-community.robotics.abb.com/t/detach-gripper-and-attach-another-one/7834/2 "2017-07-28T05:58:35Z")

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Here’s what I did previously and it works fine:

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/0/04aaa34b234dfd0c3c20b0b061118a3c234285f9.png)

Whenever the ActivateZone is set, it attaches the SensedPart of the sensor. It detaches the part when ActivateZone is reset.

In your case, you want the parent of the Attacher to be Link6 of the robot.