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How to Integrate Robotiq Products on Non-Supported Robots? 

Guidelines for mechanical mounting, communication setup, and software control when using Robotiq products on robots without official plugins

Context

Robotiq provides software components (URCaps, plugins, templates) for several major robot brands. However, you may want to use Robotiq grippers or sensors on a robot that is not officially supported.

This article explains how to:

  • Verify mechanical compatibility

  • Set up communication protocols

  • Implement software control through registers

These guidelines will help you integrate Robotiq products with a wide range of robots using standard industrial communication methods.

 

1. Mechanical Connection

Check flange specifications

Review your robot’s flange drawing for PCD (Pitch Circle Diameter), screw type, and number of holes : 

  • PCD: (ex: 31.5mm)
  • Screw size and number: (ex: 7M5)

Example of flange drawing:

 

Then we will check if we can find a coupling that may correspond to your robot. 

If there are no coupling that can fit, we can propose using a blank coupling. On this coupling the client can machine holes where he wants to use screws. Here is an article that show you the Blank Coupling.

 

2. Communication Protocols

Robotiq devices (2F-85, 2F-140, Hand-E, Hand-E C10, E-Pick, FT-300) use Modbus RTU by default.

If your robot supports Modbus RTU:

  • Connect directly to the gripper

  • Use standard Modbus RTU parameters (baud rate, parity, etc.) from the device manual

If your robot does not support Modbus RTU:

  • Use a Universal Controller to bridge communication

    • Available for: CANopen, DeviceNet, EtherCAT, Ethernet/IP, Modbus TCP, ProfiNET

  • Connect the robot to the Universal Controller, and the controller to the gripper


Special Case – FT300 Force Torque Sensor

  • The FT300 cannot use the Universal Controller

  • Instead, use a protocol converter such as Anybus to match your robot’s communication standard

 

3. Software Control

  • Robotiq devices are controlled by reading/writing registers

  • Examples:

    • Writing to a command register = open/close gripper

    • Reading a status register = check object detection or position

Refer to the Register Map in your product’s instruction manual for full details.

You must implement this control logic within your robot’s programming environment.

 

4. Parts to order

  1. Gripper
    • Hand-E : HND-GRP
    • Hand-E C10 : HND-GRP-C10
    • 2F85 : AGC-GRP-2F85
    • 2F140 : AGC-GRP-2F140
    • E-Pick : VAC-GRP-EPICK
    • FT-300 : FTS-300-S-KIT-001
  2. Coupling
    1. For the grippers : 
      • ISO 9409-1-31,5-4-M5 : GRP-CPL-063
      • ISO 9409-1-40-4-M6 : GRP-CPL-064
      • ISO 9409-1-50-4-M6 : GRP-CPL-062
      • ISO 9409-1-56-8-M4 : AGC-CPL-065
      • Others, used the blank coupling : AGC-CPL-BLANK-002
    2. For the FT-300 : 
      • ISO 9409-1-31,5-4-M5 : FTS-300-S-CPL-029
      • ISO 9409-1-40-4-M6 : FTS-300-S-CPL-030
      • ISO 9409-1-50-4-M6 : FTS-300-S-CPL-014
      • Others, used the blank coupling : FTS-300-S-CPL-BLANK
  3. Cables 
    • RS-485 Converter : ACC-ADT-USB-RS485
    • 10-meter cable : CBL-COM-2065-10-HF
  4. Protocol of communication
    1. For the grippers :
      • MODBUS RTU : Nothing more
      • CANopen : UNI-CTR-001-CANO
      • DeviceNet : UNI-CTR-001-DNET
      • EtherCAT : UNI-CTR-001-ECAT
      • Ethernet/IP : UNI-CTR-001-ENIP 
      • Modbus TCP : UNI-CTR-001-MTCP
      • ProfiNET : UNI-CTR-001-PNET
    2. For the FT-300 : 
      • MODBUS RTU : Nothing more
      • Other Protocol : Need protocol Converter like Anybus

 

Conclusion

Robotiq products can be successfully integrated with robots that do not have official software support by:

  1. Ensuring mechanical compatibility with the flange

  2. Setting up communication through Modbus RTU or a Universal Controller

  3. Controlling the device via registers in your robot program