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Using the Smartshift Tool Changer with a Robotiq Gripper

Communication problems between a Robotiq gripper on the robot can sometimes occur when a tool changer is used. This article describes the workaround for this specific issue.

A Robotiq gripper mounted behind a SmartShift tool changer can lose communication with the robot controller when the tool is swapped. This article covers the compatible combinations, the URCaps and script to install, and the workaround that restores the connection.

Principles of the Tool Changer: Smartshift

Video link: https://www.youtube.com/watch?v=-KMpbDapuOI

 

Technical Documentation: https://smartshift-robotics.com/download/

Compatibility

Universal Robots - E-Series Model Only

Compatible Robotiq Grippers : 2F-85, 2F-140, Hand-E, Hand-E C10, Hand-E P7L, EPick

Source:

https://smartshift-robotics.com/wp-content/uploads/P-TSS-007-Smartshift-Robotiq-grippers-compatibility-V1.0.pdf

 

How to Implement

Download and Install on the root of a USB key

  • Smartshift URCaps: https://smartshift-robotics.com/download/
  • Robotiq Script rq_cycle_tool_voltage_until_connection (here) to ensure : 
    • Compatibility between the tool changer and the gripper 
    • Communication between UR E-Series and Robotiq Gripper through the Smartshift tool 

Follow the steps described here : https://share.robotiq.com/public/e9bf5

 

Camera Setting Example

 

 

Documents : 

 

Need help? Contact Robotiq Support.

Updated: August 25, 2026