OnRobot Grippers Setup

SUMMARY

This guide walks through connecting a physical OnRobot gripper to Synapse over Modbus TCP.

For supported models and specifications, see All Supported Parallel Grippers.

Hardware Setup

Connect Ethernet cable from your PC to the OnRobot Compute Box

Configure your PC network on the same subnet as the Compute Box with a static IPv4 address.

Read the gripper IP from the Compute Box configuration, then set a static IP on its subnet, e.g. gripper 192.168.1.1 → PC 192.168.1.2, subnet mask 255.255.255.0, no gateway.

Verify connectivity with ping

ping 192.168.1.1   # replace with your gripper's IP

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

Verify the connection from Synapse

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

#===================== Create Gripper =========================================
gripper = onrobot.OnRobotRG2()


#===================== Run Skill ==============================================
try:
    gripper.connect(ip=ip)
except (ConnectionError, OSError) as e:
    logger.error(f"Error occurred: {e}")
finally:
    gripper.disconnect()

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