Robotiq Grippers Setup

SUMMARY

This guide walks through connecting a physical Robotiq gripper to Synapse over URCAP (via a UR controller) or Modbus RTU (direct USB connection to your PC).

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

Hardware Setup

URCAP Setup

Connect the gripper to the UR controller with a Coupling Kit cable

Plug a UR Coupling Kit (e-Series or CB-Series, matching your robot) between the gripper and the controller's tool I/O port. No separate converter is needed.

Install the Robotiq Gripper URCap

Download itfrom robotiq.com/support under Gripper Model → Universal Robots → Software → Robotiq Gripper URCap, and install on the UR Controller teach pendant. Once installed, it listens on port 63352 of the UR controller.

Configure your PC network on the same subnet as the UR controller with a static IPv4 address.

Set a static IP on the controller's subnet, e.g. controller 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 UR controller's IP

If the ping fails, work through these in order:

Check	Action
Physical link	Confirm cable seated, LAN port LEDs lit
Subnet match	PC and controller 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 robotiq

#===================== Create Gripper =========================================
gripper = robotiq.Robotiq2F85()


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

Modbus RTU Setup

Connect the gripper to your PC

Wire the gripper to an ACC-ADT-RS485-USB converter, power the converter with a 24 V supply, then plug the USB end into your PC.

Find your COM port

OS	How to find it
Windows	Device Manager → Ports (COM & LPT) → USB Serial Port (COMx)
Linux	ls /dev/ttyUSB* — typically /dev/ttyUSB0
macOS	ls /dev/cu.usbserial-*

Verify the connection from Synapse

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

#===================== Create Gripper =========================================
gripper = robotiq.Robotiq2F85()


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

Stuck on setup?

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