RG2/RG6 grippers:


Q: Can I use the gripper on other robot brands (other than UR)?

A: Yes, but all features might be not available.

RG2 and RG6 grippers:

You can connect the grippers using I/Os, but only robots that run with NPN output are directly supported. Using the I/O will give you these 4 options:

  • Open to full width (for RG2 it is 110mm, for RG6 it is 160 mm)
  • Close to 0mm
  • Open/Close until you reach a smaller force (5 newton (RG2) and 25 newtons (RG6))
  • Open/Close until you reach a larger force (40 newton (RG2) and 120 newtons (RG6))

You cannot use special functions, such as the feedback variables, depth compensation, etc. when controlling the gripper through I/O.


The RG2-FT doesn’t yet support non-UR robots.


Q: Can I change the cable connector myself?

A: Yes, you can, but please be aware that this will void your warranty (normally 15 months). It is strongly recommended that you contact Support@onrobot.com and arrange for an RMA if your cable is defective.


Q: What IP class is the gripper?

A: The gripper is IP class 54. This means that it is dust protected (but not dust tight) and protected against “splashing of water.” Note: this is not the same as waterproof.


Q: Is it the same URCap for CB3 (and CB 3.1) and the E-series?

A: Yes, as of version 1.9.0, the URCap is compatible with both versions of UR robots. See the compatibility table in the manual for more detail.


Q: How do I update the firmware in the gripper?

A: On the Command page for RG2/6 in PolyScope, press the OnRobot in the upper right corner. The latest firmware is always a part of the latest URCap, so you don’t have to download this file separately.
Choose “update firmware.” Please note that this procedure takes around 25 minutes. The latest firmware version for the RG2 is 1.5.2 and for the RG6 it is version 1.6.1.


Q: Measuring width precision - can RG2/6 be used for quality control?

A: To a certain degree, you can use the RG2/6 for quality control. The precision is highly dependent upon the flex-finger offset being correct. You have a precision of approximately +- 1,5 mm in feedback, but repeatability that is close to 0,5 mm.



HEX F/T sensors:


Q: Does it work on the E-series?

A: The current software (version 4.1.4) is compatible with the E-Series. You can download the software here.


Q: We want to use the F/T sensor on non-UR robots, how do they communicate?

A: We have our own F/T control package running on UR and KUKA robots, but you can always use the built-in force control software for other brands also. We currently support Ethernet TCP/IP and EtherCAT communication with two different converters. You can find a general description of our protocols in the user manuals and you are also very welcome to ask our experts at support@onrobot.com.


Q: Do you sell an adaptor plate compatible with my robot (KUKA, ABB, Denso…)?

A: Currently, we have 3 different adapter plates for the HEX sensors that fit various robot brands. You can see the exact dimensions in the datasheets for the HEX-sensor (find it here).


Q: What features are there on other (non-UR) robots?  Are they the same?

A: On KUKA KRC4 we have Force Control, Path Recording and Hand Guiding. On other robot brands the functionalities depend on the Force control software available on those brands.


Q: What is the max dynamic load force for the sensor (Fxy, Fz, Tx, Txy….)?

A: Please see specifications in the datasheets for the HEX sensors. You can download them here (HEX-H SENSOR 2.0 DATASHEET and HEX-E SENSOR 2.0 DATASHEET).


Q: Which URCap is compatible with with Polyscope version on UR?

A: We have a one page document, where you can see the different versions of software compared to different versions of PolyScope. Please download it here (HEX Compatibility Chart).


Q: I have problems connecting to the controller (IP address wrong).

A: The DIP switch 3 on the CB can reset the IP to the default value (


Q: Can I upload paths from CB?

A: YES, you can upload and share recorded paths thru the web server. Connect the CB to a PC and access the CB thru a browser (type CB IP address).


Q: Do I need an FT sensor with the URe?

A: Yes, if your applications need high sensitivity for quality measurements or assembly. You might also want to use the additional software features that come in the HEX package – such as Part insertion, Path recording, Seach and so on.


Q: Can I change the sensor without changing the CB?

A: YES, it is possible, but not advisable. The sensors and the CBs are a single product and warranty is valid only when kept together.


Q: Does OnRobot use the same software for all products (RG, VG, F/T sensors, RG2-FT, Gecko Gripper...)

A: No, the individual products each have their own software. The only exception is the HEX sensors and the RG2-FT, they share a URCap (ver. 4.1.4).




Q: How do I change the percentage of vacuum when using I/O connection to the robot?

A: The percentage is fixed, working with I/O (60%).


Q: Does the vacuum arm of the VG10 have a motor inside for electric position control? Or can you only move the arms manually?

A: The arms are not motorized. They are very tight because, when moving heavy objects, inertia could change the position of the arms if they were not that tight.


Q: Does it have a smaller sibling VG5?

A: No, not at the moment, but please note that you can configure the VG10 to work with small items (as low as only one active vacuum cup).


Q: After installation of URCap, the gripper doesn´t work!

A: Please make sure that you don’t have other caps installed, i.e. the cap for the RG2 or RG6. Right now, these Caps can’t be installed on the same robot at the same time.


Q: Does the gripper work on other Cobots?

A: Yes, the VG10 can be controlled by both Modbus and I/O, hence it can be used on most cobots.




Quick Changer:


Q: Do you have another Quick Changer with electric wires? Do you have automatic tool changers?

A: No, the Quick Changer is a fully manual tool changer.



Gecko Gripper:


Q: How does the grip work?

A: There is a natural gripping force in the PADS which is independent of the gripper mechanics or control. The gripper can grip, even without power in the gripper (but note that it cannot release without power). The technology is based on Van de Walls forces, comparable to static forces.


Q: How does it release?

A: Mechanical force applied from the gripper house to the object.


Q: What types of material can be gripped by the Gecko?

A: Any material that is highly polished, like glass or metal. We recommend a maximum 4,1 kg in high speed P&P applications.


Q: Where do I use the Gecko Gripper and not the Vacuum Gripper?

A: For a very smooth and clean surface, where gripping speed and leaving no marks on the item are important. The Gecko is also designed for surfaces with holes or perforations, which would make it impossible to create a vacuum.


Q: Which robots can I use with the Gecko Gripper?

A: UR with URCap. On other robots you can operate the gripper with I/Os or with Ethernet. You can easily preprogram the settings over PC as well.