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How to control a Dual Gripper on Fanuc CRX?

Setup, wiring, and software control for using two Robotiq Hand-E grippers on FANUC CRX 

Context

Robotiq's Dual Gripper Kit allows users to control two Hand-E grippers simultaneously on a FANUC CRX robot. This setup is ideal for applications like multi-part handling or alternating pick/place cycles, reducing cycle time and boosting flexibility.

This article explains how to mount, wire, configure, and control a Dual Gripper system using the Robotiq Gripper Plugin for FANUC.

 

What’s in the Dual Gripper Kit

To install a dual-gripper configuration, you'll need:

Component Quantity Notes
Gripper 2 Each with its own control module
Coupling Kit (Hardware) 2 For ISO flange 50-4-M6
Dual Adapter Plate for CRX 1 To connect both grippers
Splitter Cable 1 Connects both grippers to robot wrist port

We have some kits for a Combo of two grippers :

  • Hand-E: CRX-DUAL-HND
  • Hand-E C10 with Y Adapter Plate : CRX-DUAL-Y-HND-C10
  • Hand-E C10 with X Adapter Plate : CRX-DUAL-X-HND-C10
  • 2F85 : CRX-DUAL-AGC-085
  • 2F140 : CRX-DUAL-AGC-140

 

Mechanical Mounting

  1. Attach the adapter plate to the CRX robot’s tool flange using supplied M6 screws.

  2. Mount both grippers symmetrically onto the adapter using the dual coupling bracket.

  3. Ensure that both grippers are aligned and secured firmly to avoid misalignment or torsional stress.

 

Electrical Wiring

  1. Connect the M8 splitter to the CRX wrist I/O connector.

  2. Connect each branch of the splitter to the control cable of one gripper.

  3. Make sure power and signal connections are tight and secured using strain relief if needed.

 

Software Setup: FANUC Gripper Plugin

1. Install and launch the Robotiq Gripper Plugin.

Ensure the latest version of the plugin is installed on the CRX teach pendant.

2. Change the ID of one gripper

By default, both grippers may have the same device ID (usually ID=09). You must assign a unique ID to the second gripper:

  • Navigate to the Plugin → Device Manager

  • Connect one gripper at a time to the wrist port

  • Change ID to 10 or another unique value

  • Save settings and power-cycle the gripper

Use IDs 09 and 10 for most dual setups. Avoid using duplicate IDs.

 

Controlling Each Gripper

After ID assignment:

  1. Open the plugin interface

  2. Select the gripper (ID 09 or ID 10)

  3. Use the on-screen controls or connect to robot logic

You can:

  • Open / close each gripper independently

  • Set force and speed

  • Monitor grip status (object detected, fault, etc.)

You can find the documentation on our website support: FANUC Gripper Plugin Documentation

 

Conclusion

A Dual Gripper setup on FANUC CRX is fully supported using the Robotiq Gripper Plugin. With proper wiring, ID assignment, and mounting, you can control each gripper independently to create flexible, efficient automation processes.