Controlling the Robotiq I/O Coupling on UR CB3.0

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

You can use this article : Changing the Presets of the Robotiq 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.

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.

Need help? Contact Robotiq Support