OnRobot Grippers

SUMMARY

Synapse supports OnRobot parallel grippers including the lightweight RG2 and the heavier-duty RG6.

from telekinesis.synapse.tools.parallel_grippers import onrobot

gripper = onrobot.OnRobotRG2()

OnRobot RG6

Supported Models

Parallel Grippers

Model	Class	Max Gripping Force (N)	Stroke (mm)	Weight (kg)	Interface
RG2	OnRobotRG2	40	110	0.58	Tool Changer / Ethernet
RG6	OnRobotRG6	120	160	0.95	Tool Changer / Ethernet

Hardware Setup

Three steps take you from boxed gripper to a verified MODBUS/TCP connection: wire up the network, ping the gripper, and connect from Python.

SAFETY FIRST

Once a session is open, Synapse can drive the gripper at any time. Keep fingers and tooling clear of the jaws and be ready to disconnect before issuing any motion from your PC.

TODO

Add OnRobot-specific mounting (tool changer), Compute Box wiring, and pendant configuration steps here.

1. Configure your PC network

Put your PC on the same subnet as the gripper's controller (Compute Box) with a direct Ethernet link.

• Connect an Ethernet cable between your PC and the OnRobot Compute Box.
• Read the gripper IP from the Compute Box configuration.
• On your PC, set a static IPv4 in the same subnet — e.g. gripper at 192.168.1.1 → PC at 192.168.1.2, subnet mask 255.255.255.0, no gateway.

2. Verify connectivity with ping

ping 192.168.1.1   # replace with your gripper's IP

You should see successful replies. If the ping fails, work through these in order:

Check	Action
Physical link	Confirm cable seated, LAN port LEDs lit on the Compute Box
Subnet match	PC and gripper IPs share the first three octets
Route hijacking	Disable VPNs and virtual network adapters on the PC

3. Verify the connection from Python

Finish the installation first

Install telekinesis-ai and telekinesis-urdfs before running any robotics skill.

Open installation →

Connect, hold for a second, then cleanly disconnect — a no-motion sanity check that the session is alive:

import time
from telekinesis.synapse.tools.parallel_grippers import onrobot

gripper = onrobot.OnRobotRG2()
gripper.connect(ip="192.168.1.1")   # replace with your gripper's IP
time.sleep(1)                        # hold the session briefly
gripper.disconnect()

If connect succeeds without an exception, you are ready to run any Synapse gripper skill against the real hardware.

Stuck on setup?

Ask on the Telekinesis Discord and we'll help you get connected.

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