# Issues with programming smart grippers on a abb dual arm (IRB 14000 Yumi) **URL:** \ **Category:** Robot Controller\ **Created:** [October 4, 2024, 10:53am UTC](https://tech-community.robotics.abb.com/t/issues-with-programming-smart-grippers-on-a-abb-dual-arm-irb-14000-yumi/11643 "2024-10-04T10:53:01Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Ross\_cam](https://avatars.discourse-cdn.com/v4/letter/r/e5b9ba/32.png) [@Ross\_cam](https://tech-community.robotics.abb.com/u/Ross_cam)\ **Post date:** [October 4, 2024, 10:53am UTC](https://tech-community.robotics.abb.com/t/issues-with-programming-smart-grippers-on-a-abb-dual-arm-irb-14000-yumi/11643/1 "2024-10-04T10:53:01Z")
I am trying to program the right and left grippers on a abb dual arm however I cannot figure out how to do it. Every tutorial I find that shows some sort of programming with the gripper assumes you already have some signals set up for the grippers so that they open and close, but I don’t seem to have that, or they show setting up grippers in a simulation. I was able to get the gripper to open with a digital output signal, but I was unable to get it to close. Could someone explain how to setup smart grippers so that I can control them with code? ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [October 8, 2024, 2:55am UTC](https://tech-community.robotics.abb.com/t/issues-with-programming-smart-grippers-on-a-abb-dual-arm-irb-14000-yumi/11643/2 "2024-10-08T02:55:09Z")
Presume these are ABB grippers? If so add the Smart Gripper Add-In to your Robotware System via RobotStudio. You will need to add it to RobotStudio via the Add-Ins tab ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/e/e48de1b82c57c728f65f8fd5ce25d7777a82d04d.jpeg)