Home Integration


Left ArrowBack to discussions page
Catherine_BernierCatherine_Bernier Posts: 144 Handy
edited May 2016 in Integration
This How-To is intended for Robotiq 2-Finger Gripper 3.X.X and Universal Controller K4 with Ethernet IP.
Here is How to design an easy to use interface and integrate a Robotiq gripper to Kuka robots using the KR C4 controller.

This is how it looks like in the Kuka HMI:

The 4 bottom left keys can be configured to use multiple grippers or changing output signals.

With adaptive gripper bottom key is use to jog gripper in closing direction (default speed can be set up in program). Which means gripper will start closing as long as you have the key pressed and if key is released it will stop moving. Second key from bottom act the same but in opening direction.

Other two keys can be used to switch between grippers (e.g. if more than 1 grippers are used). The icons can be changed and text can be added below or above of the icon to make it more readable.

To use Robotiq gripper in in-line form first, it has to be selected. Then parameters need to be specified as shown below:

Position is in mm, force and speed are in percentage. The files scales both parameter into percentage (1-100%) for the ease of use.

For all the details, get the PDF HERE (source Kuka Robotics).

Any question or comment, feel free to write them below!

Catherine Bernier, Jr. Eng. 


  • MattiaHaasMattiaHaas Posts: 4 Apprentice
    Hi Catherine,

    I was wondering if you could provide a wiring diagram containing the connection between the gripper and the KR C4 controller?

    Best regards,
  • David_GariepyDavid_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
    edited February 2020
    Hello @MattiaHaas

    The Gripper must be connected to the universal controller

    Here’s the schema of the connection:

    The Universal controller can then communicate with the robot, the communication port will vary depending on the communication protocol chosen : 

    You can refer to the instruction manual for more details
    David Gariépy
    Integration Coach
Sign In or Register to comment.
Left ArrowBack to discussions page