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How to Bypass the Manual "Scan" Step in Polyscope X to Activate the Gripper

Use a URScript to initialize communication without pressing the Scan button manually

Context

In the current version of Polyscope X (PSX), users working with Robotiq grippers must press the Scan button manually before launching a program. This step is required to establish communication between the robot and the gripper, due to a limitation in the way PSX handles communication port initialization. This article explains the reason behind this behavior and provides a URScript workaround to avoid the manual Scan requirement.

 

When and Why This Happens

  • In Polyscope X, the gripper does not automatically initialize when the program starts.

  • Users must manually press the Scan button on the gripper interface before running their program.

  • If skipped, the program cannot communicate with the gripper.

 

Technical Explanation

The current PSX release does not offer access to the configuration tools needed to set the robot’s communication port during program execution. As a result, the port is only configured when pressing the Scan button, which triggers the correct initialization sequence.

 

Workaround Using URScript

You can bypass the need to press Scan by manually sending the initialization command via URScript. This command configures the port and prepares the robot to communicate with the gripper.

URScript to add:

 

#gripper connection

if gripper_com_param_set==False:

set_tool_communication(True,115200,0,1,1.0,3.5)

gripper_com_param_set=True

end

gripper_connection_status=driver_gripper_client.scanBlocking()

if (length(gripper_connection_status)!=0):

gripper_connection_done=True

end

 

Future Improvements

A future version of Polyscope X will provide the necessary interface to configure the communication port directly, removing the need for this workaround. Once that version is available, this manual initialization step will no longer be required.

 

Conclusion

Until Polyscope X includes native port configuration options, this URScript snippet provides a reliable way to start communication with your Robotiq gripper. By adding it to your program, you can skip the manual Scan step and streamline your workflow.

 

Updated: December 2025