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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

  • Robotiq Plugin and Documentation : Download from Robotiq support site

  • 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:

    • Hand-E

      • Single Gripper Kit: HND-CRX-KIT

      • Dual Kit (X bracket): CRX-DUAL-X-HND

      • Dual Kit (Y bracket): CRX-DUAL-HND

    • Hand-E C10

      • Single Gripper Kit: HND-C10-CRX-KIT

      • Dual Kit (X bracket): CRX-DUAL-X-HND-C10

      • Dual Kit (Y bracket): CRX-DUAL-Y-HND-C10

    • 2F-85

      • Single Gripper Kit: AGC-CRX-KIT-85

      • Dual Kit: CRX-DUAL-AGC-085

    • 2F-140

      • Single Gripper Kit: AGC-CRX-KIT-140

      • Dual Kit: CRX-DUAL-AGC-140

  • Installation completed: refer to the article How to install Robotiq Gripper on Fanuc CRX?

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.

You can also refer to this video : How to Install CRX Plugin for Robotiq Grippers

 

2. Change the ID of the gripper (For Dual gripper only)

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

  1. Navigate to the Plugin → Robotiq Change ID

  2. Connect one gripper at a time to the wrist port

  3. Change ID to 10 or another unique value

  4. Save settings and power-cycle the gripper

 

You can also refer to this video : How to change slave ID on Fanuc CRX

 


3. Set the TCP of the gripper

When using a dual gripper setup, you need to configure and switch between two separate TCPs (Tool Center Points) in the Fanuc CRX controller : 

  1. Navigate to the Menu → SetUp → UTool SetUp
  2. On the Robotiq website support, you will find the TCP and Center of Mass Table
  3. At Step 7, click on Direct entry or EOAT data then Offset Tool.
  4. On the next steps, you can set the TCP, weight and center of gravity of the first gripper
  5. For Dual gripper, you will need to make the operation twice. 


 

 

 

 

 

 

 

 

You can also refer to this video : How to set the TCP of a Robotiq Gripper on Fanuc CRX

 

4. Activate and Control the Gripper

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

  2. Select the gripper (ID 09 or ID 10)
  3. Select the correct TCP

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

  5. Use available commands to:

    • Open / close each gripper independently

    • Set force and speed

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

 

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.

 

Useful Links

 

Updated: October 2025