# Picking with mechanical gripper  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540>\
**Category:** PickMaster\
**Created:** [November 20, 2005, 12:10am UTC](https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540 "2005-11-20T00:10:34Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![dreds](https://avatars.discourse-cdn.com/v4/letter/d/a4c791/32.png) [@dreds](https://tech-community.robotics.abb.com/u/dreds)\
**Post date:** [November 20, 2005, 12:10am UTC](https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540/1 "2005-11-20T00:10:34Z")

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Hello,

My problem is the following: I’ve a Picker+PickMaster that must pick item that can be 360? rotated.Unfortunately I must use a mechanical gripper with sensor and so on, so I cannot use the standard vacuum solution. The only problem that I cannot solve in a simple way is how to avoid that the wrist can rotate several times, between different pick and place.

I tried changing the some Rapid program ( commenting the IndReset instruction), trying to apply a ConfLOn, but I got no results.

It’s possible to handle a similar problem or not ?

Regards, Davide.

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**Author:** ![milun](https://avatars.discourse-cdn.com/v4/letter/m/5daacb/32.png) [@milun](https://tech-community.robotics.abb.com/u/milun)\
**Post date:** [November 24, 2005, 2:59pm UTC](https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540/2 "2005-11-24T14:59:03Z")

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Hello,

Here is a suggestion how you can check that the fourth axis on the robot controller does not get twisted.

[Fourth\_Axis.zip](http://forums.robotstudio.com/webwiz/Fourth_Axis.zip)

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**Author:** ![jkweeks](https://avatars.discourse-cdn.com/v4/letter/j/bc8723/32.png) [@jkweeks](https://tech-community.robotics.abb.com/u/jkweeks)\
**Post date:** [March 13, 2006, 4:16pm UTC](https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540/3 "2006-03-13T16:16:01Z")

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Hello,

Could you please repost the link? It now goes to a lost page and I would really like to download the zip file as I am currently working on a similar issue.

Thanks,

John

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**Author:** ![Erik\_S](https://avatars.discourse-cdn.com/v4/letter/e/58956e/32.png) [@Erik\_S](https://tech-community.robotics.abb.com/u/Erik_S)\
**Post date:** [April 7, 2006, 11:57pm UTC](https://tech-community.robotics.abb.com/t/picking-with-mechanical-gripper-pickmaster-3/540/4 "2006-04-07T23:57:15Z")

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Hello,

The link above and all other downloadable links should now be functioning again.

BR,

Erik