Hi,The end-user who has a 2F-140 Gripper for UR kit asked the way how they control the gripper integrating to Doosan Cobot by a teach pendant.They designed and made a coupling oneself to integrate it to the robot wrist connecting with PC to control it now. I think they should get a universal controller to communicate for each other if they wanna control it by teach pendant, right? (Doosan is based on Modbus/TCP.)A question is, whether you have any intuitive user-interface for Doosan like UR has or not. They have felt it's a quite uncomfortable approach to control it by a script by comparison with UR. Any idea?