# Question About GripLoad

**URL:** <https://tech-community.robotics.abb.com/t/question-about-gripload/4078>\
**Category:** Robot Controller\
**Created:** [March 18, 2011, 12:04pm UTC](https://tech-community.robotics.abb.com/t/question-about-gripload/4078 "2011-03-18T12:04:05Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Jorge](https://avatars.discourse-cdn.com/v4/letter/j/9fc29f/32.png) [@Jorge](https://tech-community.robotics.abb.com/u/Jorge)\
**Post date:** [March 18, 2011, 12:04pm UTC](https://tech-community.robotics.abb.com/t/question-about-gripload/4078/1 "2011-03-18T12:04:05Z")

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Hello, I have a robot with a grip, and a gun in the floor.

The grip is defined as robhold = true, and the gun in the floor is defined as robhold = false.

My robot, takes the piece using a moveL like this:  
(…)  
MoveL p60, v300, fine, t\_grip;  
GripLoad LoadPiece;  
(…)

Then when the robot goes to the gun , I use move reference to the tool gun, like this:

MoveJ p90,v1000,z10,t\_gunwobj:=wPiece;

My question is:

1. The tool in the floor should have the same mass a the tool grip?
2. When I move reference to the gun (in the floor) should I put a new gripload loadPiece, because I change the tool used in my moves?

Thanks in advance  
/jorge