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      Error - Capability not supported : DIGITAL_OUTPUT_MODE

      How to resolve this error by correctly configuring the Tool I/O settings in UR's Installation tab

      Context

      This article addresses the “Capability not supported : DIGITAL_OUTPUT_MODE” error, commonly encountered when setting up a Robotiq Gripper with a Universal Robots controller. The issue typically results from incorrect configuration in the Installation > Tool I/O section of the UR interface. Proper configuration is essential for the gripper to communicate correctly with the robot.

      Error Description

      You may see the following error on your teach pendant during setup or when attempting to use the gripper:

      pro-dZrywE8u.jpeg

      This error prevents the gripper from functioning and is caused by an incorrect Tool I/O control setting, depending on your hardware configuration.

      Resolution Steps

      1. Open Tool I/O Menu

      1. On the UR teach pendant, go to Installation > General > Tool I/O Interface.

      2. Identify the Control Source setting.

      2. Identify Your Coupling Type

      Check which type of Robotiq coupling you are using:

      • CB-Series coupling

      • E-Series coupling

      • I/O coupling

      3. Apply the Correct Setting

      Set the Control Source as follows:

      • CB-Series coupling
        → Set to: Controlled by Users

      • E-Series coupling
        → Set to: Controlled by Robotiq Gripper

      • I/O coupling
        → Set to: Controlled by Robotiq Wrist Connection

      ⚠️ If you are unsure of your coupling type, refer to this article. 

      Conclusion

      The “Capability not supported : DIGITAL_OUTPUT_MODE” error is resolved by selecting the correct Control Source in the Tool I/O menu, based on your coupling type. Always verify this setting during initial setup to avoid communication issues with your gripper.