# Hand-E Robotiq gripper stopped working after 5.21.2 update **URL:** \ **Category:** Robot Communication\ **Created:** [March 21, 2025, 11:58am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178 "2025-03-21T11:58:54Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![andrei.kholodnyi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/andrei.kholodnyi/32/6919_2.png) [@andrei.kholodnyi](https://forum.universal-robots.com/u/andrei.kholodnyi)\ **Post date:** [March 21, 2025, 11:58am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/1 "2025-03-21T11:58:54Z")
My Hand-E Robotiq gripper is connected directly to the Tool using an 8 pins cable. I had Polyscope `5.14.5` version on my UR5 and updated it to `5.21.2`. i also updated Gripper URCaps from `1.8.7` to `3.19.1` After that my Hand-E Robotiq gripper stopped working and shows a solid red light (no communication?) `General>Tool I/O>I/O Interface Control>Robotiq Gripper` is selected but the `Scan` does detect the gripper. I see that from time to time the `drivergripper` daemon tries to communicate over `/dev/ttyTool`. ```bash # lsof /dev/ttyTool COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME URControl 2163 root 12u CHR 136,0 0t0 3 /dev/pts/0 # lsof /dev/ttyTool COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME URControl 2163 root 12u CHR 136,0 0t0 3 /dev/pts/0 drivergri 2228 root 10u CHR 136,0 0t0 3 /dev/pts/0 ``` ```bash # ps aux | grep gripper root 2170 0.0 0.0 2040 592 ? Ss 12:38 0:00 runsv bundle@com.robotiq.urcap.gripper@-96457847 root 2172 0.0 0.1 3728 2836 ? S 12:38 0:00 /bin/bash /root/GUI/felix-cache/bundle184/data/com/robotiq/urcap/gripper/impl/daemon/robotiq_2f_gripper_driver.sh root 2228 0.8 0.4 23724 8604 ? Sl 12:38 0:03 ./drivergripper ``` Any hints how to fix it? ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [March 21, 2025, 12:21pm UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/2 "2025-03-21T12:21:09Z")
I’d noticed for a while there (not exactly sure which versions) Polyscope would automatically turn off all the services. (Hamburger menu \> Settings \> Security \> Services) Maybe the gripper uses something in there that got turned off? Otherwise it might also be worth reaching out to Robotiq ---
**Author:** ![andrei.kholodnyi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/andrei.kholodnyi/32/6919_2.png) [@andrei.kholodnyi](https://forum.universal-robots.com/u/andrei.kholodnyi)\ **Post date:** [March 21, 2025, 12:34pm UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/3 "2025-03-21T12:34:36Z")
Thanks @eric.feldmann I have contacted Robotiq customer support, but haven’t received a response yet. Their release notes state that 'this URCap was tested on `5.19.0`, but no such Polyscope release exists. PS: All services are enabled. Thanks for pointing it out to me. ---
**Author:** ![andrei.kholodnyi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/andrei.kholodnyi/32/6919_2.png) [@andrei.kholodnyi](https://forum.universal-robots.com/u/andrei.kholodnyi)\ **Post date:** [March 27, 2025, 12:32am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/5 "2025-03-27T00:32:33Z")
@y.methot.Robotiq I have filled a form on your site, let me also write an email. ---
**Author:** ![claudia](https://avatars.discourse-cdn.com/v4/letter/c/a88e57/32.png) [@claudia](https://forum.universal-robots.com/u/claudia)\ **Post date:** [April 1, 2025, 1:49pm UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/6 "2025-04-01T13:49:35Z")
I also experienced a connection issue with third-party software after an update. In the Hamburger menu, under Security → Secure Shell, I found that the checkboxes for `Enable SSH access` and `Allow port forwarding` were unchecked. Enabling them resolved my connection problem. I don’t know if this will work for you, but it’s worth a try. ---
**Author:** ![cags](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/cags/32/6304_2.png) [@cags](https://forum.universal-robots.com/u/cags)\ **Post date:** [April 23, 2025, 11:51am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/7 "2025-04-23T11:51:07Z")
Curently I have a Hand-E gripper with 5.21.3, URCap version 3.19.1 and it works fine. My guess is that your gripper is quite old (it is quite a jump from 1.8 to 3.19) and something went incompatible inside the gripper (either hardware or URCap software). I would recommend to go through Robotiq legacy download center and try older URCap versions and see where it stops working. ---
**Author:** ![andrei.kholodnyi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/andrei.kholodnyi/32/6919_2.png) [@andrei.kholodnyi](https://forum.universal-robots.com/u/andrei.kholodnyi)\ **Post date:** [August 13, 2025, 8:53am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178/8 "2025-08-13T08:53:37Z")
Thank you everyone for the comments and hints. I went to the company here in Munich where I bought the UR5, and they gave me an I/O coupling with a micro-USB port. Using that and the Robotiq User Interface, I was able to flash a new firmware image onto the gripper. it works now. Apparently, the problem was that the firmware update of the Hand-E gripper failed, leaving it in a non-operational state.