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Hello Crew,

On October 26th, 2020, Robotiq put online version 1.8.6 of its Gripper URCap (UCG-1.8.6). 

To find the new URCap, please go to support.robotiq.com ➜ Browse by product ➜ Choose your product ➜ Universal Robots ➜Software ➜ Gripper Software ➜ Download Zip.  

The bugfixes implemented are listed below.   

[BUG FIX] Mitigates the Low level real-time thread issue on Polyscope 5.9

[BUG FIX] Make the scanning more robust when using a dual gripper configuration

[BUG FIX] When the program stops, the vacuum remains active under all circumstances

[BUG FIX] Supports a dual gripper + vacuum configuration  

Please contact [email protected] should you have questions or comments.



  • wibrahimwibrahim Posts: 2 Recruit
    I cannot get the Gripper to activate in URSimulator. followed the below steps (they work on physical machine but not in URsimulator)
    • Tap the Installation button at the top of the screen. • Tap the URCaps button in the navigation pane on the left. • Select Gripper in the dropdown list. • Go to the Dashboard tab. • Check the Gripper is connected to the wrist checkbox. • Tap the Scan button to locate any connected Gripper
  • Hello @wibrahim

    You will need to start the driver manually in order to be able to use the gripper with URSim. Here is a procedure that explains how to do this.

    Hope this helps.
  • wibrahimwibrahim Posts: 2 Recruit
    I did follow that but still getting an error

    [email protected]:~/ursim-current/GUI/felix-cache/bundle178/data/com/robotiq/urcap/gripper/impl/daemon$ ./robotiq_2f_gripper_driver.sh
    FTDI conf file does not exist. Creating it.
    ./robotiq_2f_gripper_driver.sh: line 46: /etc/modprobe.d/ftdi_sio.conf: Permission denied
    ./robotiq_2f_gripper_driver.sh: line 47: /etc/modprobe.d/ftdi_sio.conf: Permission denied
    ./robotiq_2f_gripper_driver.sh: line 48: /etc/modprobe.d/ftdi_sio.conf: Permission denied
    modprobe: ERROR: could not insert 'ftdi_sio': Operation not permitted
    cp: cannot create regular file ‘/programs/’: Not a directory
    Warning: QObject::connect: No such signal QSerialPort::errorOccurred(QSerialPort::SerialPortError) ((null):0, (null))
    Fatal: Unable to start the server on port 63352 ((null):0, (null))
    ./robotiq_2f_gripper_driver.sh: line 75:  3097 Aborted                 (core dumped) ./${DAEMON}
    No process in pidfile '/var/run/robotiq_gripper_gui.pid' found running; none killed.
    [email protected]:~/ursim-current/GUI/felix-cache/bundle178/data/com/robotiq/urcap/gripper/impl/daemon$ 
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