How to control the I/O Coupling on CB3.0 ?

Context

Although the Universal Robots CB3.0 controller does not support Robotiq’s URCap plugin, the Robotiq I/O Coupling can still be used successfully. Since the CB3.0 shares the same wrist connector as newer models, the hardware is compatible—but control must be handled through manual scripting and digital I/O logic.

This article explains how to set up, configure, and operate the I/O Coupling on CB3.0 by leveraging digital signals and preconfigured presets.

1. Configure Presets with Robotiq User Interface (RUI)

You can use this article : How to change the presets of the I/O Coupling ? 

2. Activation of the I/O Coupling

Before using the gripper, you need to activate the I/O Coupling, this will triggers the activation sequence of the gripper :  

3. Trigger Presets Using Digital Outputs on CB3.0

The I/O Coupling listens to two digital inputs to select one of the four presets:

Use set_standard_digital_out() commands in your URScript or teach pendant program to toggle these states.

You can use this program example:

4. Gripper Feedback via Digital Inputs

The I/O Coupling provides status via two digital output pins:

You can wire these to robot digital inputs and implement logic to verify successful operations.

5. Tips for CB3.0 Integration

• Re-initialize gripper after every robot boot.

• Test all four presets using manual digital output toggles before deploying the program.

• Label digital outputs/inputs clearly on the robot control box.

• Avoid URCap scripts—they won’t work on CB3.0.

Conclusion

Even without URCap support, the Robotiq I/O Coupling works seamlessly on CB3.0 when configured using the Robotiq User Interface and controlled via digital outputs. This setup enables compact, cable-free operation using a combination of hardware presets and simple scripting.