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Controlling a Robotiq Gripper on TM/Omron S-Series Robots

Integration steps for using Robotiq grippers with TM Flow 2.0 and MODBUS RTU

This article provides guidance on integrating Robotiq grippers with TM/Omron S-Series robots using TM Flow 2.0. It focuses on using a direct MODBUS RTU connection via the robot's wrist, supported by Robotiq's dedicated coupling and software component.

 

1. Integration Overview

The TM/Omron S-Series uses TM Flow 2.0, which supports MODBUS RTU communication directly through the robot’s wrist. Robotiq offers a dedicated coupling designed to simplify this integration.

  • Communication Protocol: MODBUS RTU

  • Robot Controller: TM Flow 2.0

  • Connection Type: Wrist-mounted via MODBUS RTU port

Robotiq gripper wrist coupling with MODBUS RTU pin connector

 

2. Required Components

To complete the integration, you'll need the following hardware and kits:

  • Coupling SKU: GRP-SS-CPL-078

  • Integration Kits (hardware + software included):

    • AGC-OMRON-S-KIT-140

    • AGC-OMRON-S-KIT-85

    • HND-OMRON-S-KIT

    • VAC-OMRON-S-EPICK-KIT1

These kits include the necessary accessories to physically and electronically connect the gripper to the robot.

 

3. Software Setup

To enable communication between the gripper and robot:

  • Download and install the TM Component specifically designed for the TM/Omron S-Series.

  • This component facilitates command and data flow through MODBUS RTU.

You can download it from the Robotiq Support Portal: select your gripper model, then go to Software > Gripper Software, and pick the component version that matches your TM Flow version.

Robotiq Support Portal navigation showing the TM Series Component software downloads for OMRON S-Series robots

 

4. Documentation Access

Comprehensive setup and configuration details are included in the documentation for the TM Component. This includes:

  • Node descriptions

  • Connection diagrams

  • Usage examples

All documentation is available on the Robotiq Support Portal.

 

Conclusion By using the Robotiq coupling and TM Component, integrating your gripper with TM/Omron S-Series robots is straightforward. For detailed guidance, refer to the downloadable component documentation. Need help? Contact Robotiq Support.

Updated: August 14, 2026