Adaptive Grippers
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      2. Adaptive Grippers

      Control a Gripper on a CB2

      Use the legacy driver package to operate your 2F-85, 2F-140, or Hand-E gripper on older UR controllers

      Context

      UR CB2 controllers do not support URCaps, which are required for Robotiq’s gripper integration. However, you can still control your Robotiq gripper (2F-85, 2F-140, Hand-E) using a legacy driver package available in our support archives.

      Information

      1. CB2 Controller Limitations

      • URCaps were introduced with CB3 and later versions. CB2 controllers do not support this feature.

      • This means you cannot use the newer, more user-friendly Robotiq URCap packages with CB2 systems.

      2. Recommended Solution: Use the Legacy Driver Package

      • Robotiq provides a legacy “Driver Package” that includes the Gripper Toolbar.

      • This package enables basic control of the gripper on CB2 controllers.

      • You can find it in the Archives section of our support site.

      3. Compatibility Reference

      Refer to the table below to see which Robotiq software packages work with each UR controller type:

      4. Setup Notes

      • The legacy driver is less intuitive than URCaps but effective for basic use.

      • Follow the instructions included in the archive to install and configure the driver on your robot.

      Conclusion

      While CB2 controllers are not compatible with modern URCaps, Robotiq’s legacy driver package provides a practical workaround. For access and documentation, visit our support archives or contact Robotiq Support for guidance.