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

Step-by-step guide to configure, activate, and calibrate a Robotiq gripper using the URCap interface

Context

This article explains how to activate and calibrate a Robotiq mechanical gripper on a Universal Robots e‑Series controller using the URCap interface. These steps ensure the gripper operates with accurate open/close positions and proper control through the robot's Dashboard and Polyscope interface.

Prerequisites

Before starting, make sure you meet the following requirements:

  • Robot model: Universal Robots e‑Series (UR3e, UR5e, UR10e, etc.)

  • Polyscope Version: Installed and up to date the Polyscope version

  • URCap version: Installed and up to date with Robotiq URCap

  • Gripper model: Compatible Robotiq mechanical gripper (e.g., 2F‑85, 2F‑140)

  • Connections: Gripper is physically installed and wired correctly to the robot’s wrist


1. Set the Tool I/O Control to Robotiq

  1. On the robot’s teach pendant, go to the Installation tab.

  2. Navigate to General → Tool I/O.

  3. Under Tool I/O control, select Robotiq_Grippers from the dropdown list.

    • This enables the robot to communicate with the gripper through the Tool I/O.

 

2. Activate the Gripper Using the URCap

  1. Go to the URCap Toolbar and open the Gripper Dashboard.

  2. If the gripper has not yet been detected, click Scan to detect connected devices.

  3. Once detected, press Activate or Reactivate to initialize the gripper.

Note: If the gripper is not detected, verify the Tool I/O selection and physical wiring.

 

3. Calibrate the Gripper

Calibration allows the gripper to accurately measure and report the position of its fingers. This step is recommended for optimal performance, especially when precision is required.

Note: Calibration is not mandatory for basic operation but ensures consistent performance.

a. Access Calibration

  1. In the URCap Gripper tab, open the Calibration section.

  2. Select Calibrate to begin the process.

b. Define the Closed Position

  1. Manually close the gripper completely or move the robot to a pose that closes the gripper.

  2. Press Define Closed Position.

  3. A distance value will appear — this corresponds to the space between fingertips (in % or mm).

c. Define the Open Position

  1. Manually open the gripper to its fully extended state or move the robot to that pose.

  2. Press Define Open Position.

  3. The distance value will update accordingly.

d. Confirm Calibration

  1. Press Continue, then Finish to complete the calibration process.

Tip: You can view gripper position feedback as a percentage (0% = closed, 100% = open) or in millimeters.

 

4. When to Re-Calibrate

Re-calibration is recommended in the following cases:

  • After changing the gripper’s fingers or fingertip accessories

  • If calibration values seem inaccurate or inconsistent

     

 

 

Conclusion

Activating and calibrating your Robotiq mechanical gripper ensures optimal performance and accurate control through your UR e‑Series robot. While calibration is optional, it is highly recommended to maximize precision.