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Scanning a Robotiq Gripper in PolyScope X with a 3PE Teach Pendant

Ensure successful detection of the gripper by holding the 3PE switch during the scan process

When using PolyScope X with a 3PE Teach Pendant, scanning for a Robotiq Gripper requires holding the 3PE switch. This is due to how the robot manages background program execution. If the 3PE switch is not held, the necessary configuration may not run, even though the scan appears to complete successfully. As a result, the gripper is not detected.

Prerequisites

  • Universal Robots (UR) Robot running PolyScope X

  • 3PE (Three-Position Enable) Teach Pendant

  • Installed Robotiq Gripper URCapX 3.28.0

Scanning Instructions

  1. On the robot Teach Pendant, open the Application tab in PolyScope X.

  2. Navigate to the Robotiq section and select Adaptive Gripper.

  3. Press and hold the 3PE switch.

  4. While holding the switch, tap the Scan button.

  5. Keep holding the switch until the scan completes.

If the gripper is not detected, repeat the scan while ensuring the 3PE switch is pressed continuously.

Downloads and Resources

Note on Future Improvements

Universal Robots is actively improving how the scan and configuration process works in PolyScope X. A future update is expected to make the experience more robust and user-friendly. Robotiq will provide a compatible update as soon as these changes are officially available.

Conclusion

For now, remember to hold the 3PE switch throughout the scan process to ensure your Robotiq Gripper is detected and configured correctly in PolyScope X.

 

Need help? Contact Robotiq Support

Updated: January 2026