Actuate Gripper

Actuate gripper connected to cobot

Since R2025a

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Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Actuate Gripper block actuates the gripper that is connected to UR Series cobot. You can actuate Robotiq Vacuum Gripper or Robotiq 2-Finger Adaptive Robot Gripper using this block.

Note

The simulation and deployment using this block is applicable only for connection to an actual UR Series cobot and not to a simulated cobot using URSim.

By default, the gripper connection is disabled even though you successfully connect to the cobot. To enable the connection to the gripper to receive commands for actuation, you need to modify the URServerScript.script available with the support package (for more details, refer to Load and Play UR Program on Hardware).

Ports

Input

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The Actuation port is used to pass a logical value to actuate the gripper. 1 closes the gripper and 0 opens the gripper.

Data Types: Boolean

The Enable port is used to pass a logical value to enable or disable the block to perform gripper actuation. 1 enables the block to accept a value at the Actuation input port, whereas 0 disables the block.

Data Types: Boolean

Parameters

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Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Version History

Introduced in R2025a