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How to install 4 grippers on UR Robot ?

Set up and power four Robotiq grippers simultaneously using the URCap and proper wiring.

Context

Robotiq’s URCap software allows Universal Robots to control up to four grippers in a single setup. However, the robot’s wrist connector can only supply power to one gripper. To install and operate four grippers at once, you’ll need to provide power from the robot controller and use a specific splitter setup.

This article guides you through the installation process and wiring requirements.

 

Required Components

To install four grippers, make sure you have the following hardware:

  • 4 × Robotiq Grippers (Hand‑E, 2F85, or 2F140)

  • 1 × Robotiq device cable – 10 m (Part #: CBL‑COM‑2065‑10‑HF)

  • 1 × USB-to-RS485 communication adapter (Part #: ACC‑ADT‑USB‑RS485)

  • 3 × M12 splitter cables (Part #: ACC‑SPLIT‑M12‑2/1)

  • 1 × Custom M12 adapter cable (not provided – required to clear splitter spacing)

 

Installation Steps

  1. Power off the robot
    Ensure the robot and controller are fully powered down before connecting hardware.

  2. Prepare your grippers
    Mount the four grippers on your end effector setup, and route their power/data cables.

  3. Connect all grippers to M12 splitters
    Use three M12 splitter cables to merge all four grippers into a single connection point.

  4. Use a custom M12 adapter cable
    One splitter port may be physically obstructed. Use a short M12 adapter cable to clear the tight spacing (as shown in the photo).

  5. Connect to the robot controller
    Run the 10 m Robotiq device cable from the last splitter to the robot controller’s communication port.

  6. Attach the USB-to-RS485 adapter
    Plug the adapter into the robot’s USB port to enable communication with all four grippers via the URCap.

  7. Power on and configure in URCap
    Launch the URCap on the robot. The software will detect all four connected grippers if wired correctly. Perform tests to ensure each gripper responds independently.

 

Conclusion

Using Robotiq’s URCap and the correct wiring setup, you can control up to four grippers on a single UR robot. The key is to power the grippers from the controller—not the wrist—and use splitters to link them into one communication chain. Because the robot does not have enough juice to power all of them through the wrist connector.