Activating and Calibrating a Mechanical Gripper with UR e-Series Robots

When using multiple fingertips on your gripper, the distance (in % or mm) between the fingers may vary from one pair to another. To learn how to display this distance in % or mm, refer to Section 4.9.6 of the corresponding Gripper Instruction Manual, available at robotiq.com/support.

Please note that calibrating the gripper is not a mandatory task to complete in order to work with the gripper.

How to Activate and Calibrate the Gripper

Follow these steps to configure an e-Series wrist-connected gripper, activate it, and calibrate it through the calibration tab.

1. Activating the Gripper

Before activation, you need to set how the Tool I/O is controlled.

Selecting Tool I/O Control

1. Open the Installation tab.
2. Navigate to the General submenu.
3. Select Tool I/O.
4. In the Controlled by drop-down menu, select Robotiq_Grippers.

*The red boxes in the images indicate the steps order you should follow.

Once Robotiq_Grippers is selected, you can activate the gripper.

Activating the Gripper

1. Open the Installation tab.
2. Navigate to the URCaps submenu.
3. Select Gripper.
4. Open the Dashboard tab.
5. Click Reactivate.
6. After activation, proceed with calibration.

If the gripper does not appear, press the Scan button to detect it.

1. Once you have selected the Calibration tab:
2. Select Recalibrate

1. Select Close position

In this example, the input value represents the distance between the fingertips in millimeters. This serves as the reference point when the gripper is closed.

      2. Select Continue

1. Select Open position

In this example, the input value represents the distance between the fingertips in millimeters. This will be the reference point when the gripper is opened.

      2. Select Finish

Your gripper is now activated and calibrated!