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How to Control a Robotiq Gripper with FANUC CRX using Robotiq Plugin ?

Install and control Robotiq 2F and Hand-E grippers using the Robotiq plugin for Fanuc CRX

Context

This article explains how to integrate supported Robotiq grippers with Fanuc CRX collaborative robots using the official Robotiq plugin. It includes setup steps, supported models, plugin resources, and guidance for cases where the plugin is not available (e.g., for vacuum grippers).

 

Prerequisites

Before starting, make sure the following requirements are met:

  • Robot type: Fanuc CRX series

  • Plugin compatibility: Robot software version supports CRX plugins

  • Gripper model: One of the following:

    • 2F-85 or 2F-140

    • Hand-E

    • Hand-E C10

  • Required kits: Depending on your gripper model, use the corresponding CRX integration kit:

Gripper Model CRX Kit Name
2F-85 AGC-CRX-KIT-85
2F-140 AGC-CRX-KIT-140
Hand-E HND-CRX-KIT
Hand-E C10 HND-C10-CRX-KIT

Note: The E-Pick grippers are not supported by the Fanuc CRX plugin. If you are using these, see the "Manual Control via Registers" section below.

 

1. Install the Robotiq Plugin on Fanuc CRX

  1. Visit the Robotiq support site and download the CRX plugin for your gripper.

  2. Transfer the plugin to a USB drive or via the Fanuc file management interface.

  3. Access the TP (Teach Pendant) interface and install the plugin per Fanuc's standard plugin setup process.

  4. Once installed, the Robotiq gripper control interface will appear in the CRX UI.

 

2. Connect the Gripper and Power Supply

  1. Mount the gripper using the included hardware from the CRX kit.

  2. Connect the gripper to the robot wrist using the coupling cable .

 

3. Activate and Control the Gripper

  1. Open the Robotiq plugin interface on the CRX teach pendant.

  2. Use the plugin to activate the gripper—this initializes the internal control and prepares it for commands.

  3. Use available commands to:

    • Open / close the gripper

    • Set position and speed

    • Detect object presence (if supported)

 

 

Conclusion

Robotiq provides a plugin-based integration for Fanuc CRX robots, making it easy to control supported 2F and Hand-E grippers directly from the teach pendant.  Always refer to the documentation specific to your gripper and CRX kit to ensure a smooth setup.

For more information, you can refer to these articles :

 

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