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Error - C289A9 Limit current at tool connector

Firmware updates and configuration settings to fix over-current warnings on UR robot wrists.

Context

When connecting a Robotiq Gripper directly to a Universal Robots wrist, you may see an error message about excessive current on the tool connector. This typically happens if the gripper firmware is outdated or if wrist coupling settings are not properly configured.

Error Message

When the problem occurs, PolyScope shows a message similar to:

ToolA: C289A9: Tool connector: Current of [value] A on the power pin is outside of the allowed range.

 

Why This Happens

  • Outdated firmware: Older versions do not properly manage current limiting.

  • Configuration not set: The URCaps Gripper Dashboard and Tool I/O must be adjusted to tell PolyScope the gripper is powered through the wrist and should limit current.

 

Step-by-Step Resolution

1. Check Firmware Version

  • Put the latest version of Urcap and verify the firmware version of the 2-Finger Gripper. Go to Installation>URCaps>Gripper>About.

  • If it's not written "Robotiq gripper's firmware version is obsolete". Skip step 2.

2. Update Gripper Firmware

  1. Download the Robotiq Universal Upgrader (RUU) from Robotiq Support

  2. Connect the gripper using an RS-485-to-USB adapter (power not required).

  3. Run the RUU and follow the instructions to update to the latest firmware.

 

3. Adjust Wrist Coupling Settings (for e-Series)

  • On the teach pendant, go to:
    Installation → URCaps → Gripper → Dashboard

  • Enable:

    • Gripper cable is connected to the wrist

    • Limit gripper current

 

4. Assign Tool I/O Control

  • Navigate to:
    Installation → General → Tool I/O

  • Set the Client (“Controlled by”) field to Robotiq_Grippers.

 

 

Conclusion

If you encounter the error “Tool connector current is outside of the allowed range” when using a Robotiq 2-Finger Gripper on a UR robot wrist, the fix is simple: update to firmware to the latest version, enable current-limiting in the Gripper Dashboard, and set Tool I/O to Robotiq_Grippers.

If the error persists even after applying these steps, contact Robotiq Support with details about your robot, gripper model, firmware version, and error logs.