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Mounting Robotiq 2F and Hand-E Grippers on Franka Emika Robots

The mechanical coupling and communication components needed to connect a Robotiq 2F or Hand-E gripper to a Franka Emika Panda or Research 3 robot.

Franka Emika Panda and Research 3 robots are frequently paired with Robotiq 2F and Hand-E grippers for research, data collection, and pick-and-place applications. Since Franka Emika robots are not part of our natively supported robot list, this article walks through exactly which components are needed for a clean mechanical and communication setup. 

Flange compatibility

Both the Franka Emika Panda and Research 3 share the same tool flange: ISO 9409-1-50-4-M6 (50 mm PCD, 4 x M6 threads), listed on Franka's own datasheet as DIN ISO 9409-1-A50. This is identical to Robotiq's standard coupling bolt pattern, so no adapter plate is required. 

Connector note 

The Franka Emika tool-flange connector is Male, the same gender as the Robotiq gripper's coupling cable connector. Because of this, the two cannot mate directly at the flange for the electrical connection. Instead, the gripper's communication cable needs to be routed to the robot's base or controller. 

Communication 

Robotiq 2F and Hand-E grippers communicate natively via Modbus RTU over RS-485. Once the communication cable is routed to the base or controller, an RS-485 to USB adapter converts the signal for use with a PC (for example, a ROS master PC).

If your setup goes through Franka's own controller and fieldbus rather than a direct PC connection, check our general integration guide for non-supported robots for further guidance: Choosing the Right SKU for Non-Supported Robots.

Kits to order to communicate Modbus RTU or to computer

Gripper model Kit SKU
2F-85 AGC-2F-85-USB-KIT
2F-140 AGC-2F-140-USB-KIT
Hand-E HND-USB-KIT

Each kit includes:

  • Gripper

  • Coupling (GRP-CPL-062)

  • 10-meter communication cable (CBL-COM-2065-10-HF)

  • USB-to-RS485 adapter (ACC-ADT-USB-RS485)


Kits to order to communicate on other protocols 

The Universal Controller bridges Modbus RTU to your robot's protocol when your robot does not support Modbus RTU natively: 

Robot protocol Universal Controller SKU
Modbus RTU (native) Not required
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

Conclusion 

With the right coupling and cable routing, mounting a Robotiq 2F or Hand-E gripper on a Franka Emika Panda or Research 3 is straightforward; no custom adapter needed. For the full list of compatible robots and connection kits, check out our Generic Robot Connection Kit guide.

Need help with your specific setup? Contact Robotiq Support.

Updated: July 2026