# Orientation problem pick/place  \[PickMaster 5\]

**URL:** <https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746>\
**Category:** PickMaster\
**Created:** [May 7, 2009, 11:49am UTC](https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746 "2009-05-07T11:49:01Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![createch](https://avatars.discourse-cdn.com/v4/letter/c/df788c/32.png) [@createch](https://tech-community.robotics.abb.com/u/createch)\
**Post date:** [May 7, 2009, 11:49am UTC](https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746/1 "2009-05-07T11:49:01Z")

</div>

Hi,

I have some problems with gripper orientation. Between Pick and Place. The box to pick has the same orientation between the pick and the place there is no need to rotate the gripper but in my project the robot is rotating his gripper 360 degrees between pick and place even if I use the ConfJOff and the ConfLOff.

How can I solve this problem?

BR,  
Fabrice

---

<div class="post-metadata">

**Author:** ![AndersL](https://avatars.discourse-cdn.com/v4/letter/a/8baadc/32.png) [@AndersL](https://tech-community.robotics.abb.com/u/AndersL)\
**Post date:** [May 7, 2009, 3:16pm UTC](https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746/2 "2009-05-07T15:16:36Z")

</div>

Hello,

you could use ConfLOff, ConfJOn and combine it  
with a safe position, where Move type is MoveJ, on one or both of the work areas to  
set the wrist in a desired orientation when going there. The safe position(s)  
will also help not to spin up the wrist in the long term when running with ConfLOff.

BR Anders

---

<div class="post-metadata">

**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\
**Post date:** [May 11, 2009, 5:19am UTC](https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746/3 "2009-05-11T05:19:28Z")

</div>

Is it an IRB360?  
If so, try to upgrade to RW5.11.03. It has a few solved motion issues for the IRB360.

---

<div class="post-metadata">

**Author:** ![createch](https://avatars.discourse-cdn.com/v4/letter/c/df788c/32.png) [@createch](https://tech-community.robotics.abb.com/u/createch)\
**Post date:** [May 11, 2009, 9:15am UTC](https://tech-community.robotics.abb.com/t/orientation-problem-pick-place-pickmaster-5/2746/4 "2009-05-11T09:15:08Z")

</div>

I found the problem, the robot (IRB660) change orientation when going to the intermediate point and there for it rotates 360A? on the pick point. I have force the gripper orientation and the robconf data of the intermediate position. It works fine.

Thanks for you reply.  
BR,  
Fabrice