# RobotIq 2F-85 Gripper Socket Communication to Control Gripper

**URL:** <https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443>\
**Category:** URScript\
**Created:** [July 4, 2025, 2:20am UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443 "2025-07-04T02:20:31Z")\
**Posts on this page:** 8\
**Page:** 1

<div class="post-metadata">

**Author:** ![gyjeong](https://avatars.discourse-cdn.com/v4/letter/g/dec6dc/32.png) [@gyjeong](https://forum.universal-robots.com/u/gyjeong)\
**Post date:** [July 4, 2025, 2:20am UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/1 "2025-07-04T02:20:31Z")

</div>

I’d like to get help with how to control the gripper through robotic TQ 2F-85 gripper socket communication

Attached is the source code below  
Is there anything I need to revise?

 ![20250704_112130](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/4/42690e899eb2334a7528542a52d253cfeed58c04.png)

---

<div class="post-metadata">

**Author:** ![tizh](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/tizh/32/4176_2.png) [@tizh](https://forum.universal-robots.com/u/tizh)\
**Post date:** [July 7, 2025, 7:34am UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/2 "2025-07-07T07:34:50Z")

</div>

Hi,

if using port 30002, all the script functions generated by robotiq shall be send to controller from client.

it is suggested to use interpreter mode, if you are using E-series. [Universal Robots - Interpreter mode](https://www.universal-robots.com/articles/ur/programming/interpreter-mode/)

detailed info in latest script manual [Universal Robots - Script Directory - e-Series and UR20/UR30 - SW 5.21](https://www.universal-robots.com/download/manuals-e-seriesur-series/script/script-directory-e-series-and-ur20ur30-sw-521/)

Thanks

---

<div class="post-metadata">

**Author:** ![rcullen](https://avatars.discourse-cdn.com/v4/letter/r/bb73d2/32.png) [@rcullen](https://forum.universal-robots.com/u/rcullen)\
**Post date:** [July 9, 2025, 10:16pm UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/3 "2025-07-09T22:16:24Z")

</div>

Hello,

I am trying to achieve similar functionality. Does “Interpreter Mode” exist on Polyscope X v10.8 ?

Thanks,  
Ryan

---

<div class="post-metadata">

**Author:** ![mvosseler](https://avatars.discourse-cdn.com/v4/letter/m/77aa72/32.png) [@mvosseler](https://forum.universal-robots.com/u/mvosseler)\
**Post date:** [July 10, 2025, 3:22pm UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/4 "2025-07-10T15:22:44Z")

</div>

@rcullen the Interpreter mode does work in Polyscope X. However you likely will have to activate the port first in Setting → Services.

The script-functions are the same as in Polyscope 5.

---

<div class="post-metadata">

**Author:** ![shelly.bagchi](https://avatars.discourse-cdn.com/v4/letter/s/ecc23a/32.png) [@shelly.bagchi](https://forum.universal-robots.com/u/shelly.bagchi)\
**Post date:** [July 17, 2025, 8:30pm UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/5 "2025-07-17T20:30:11Z")

</div>

Hey! Did you get this working?

---

<div class="post-metadata">

**Author:** ![gyjeong](https://avatars.discourse-cdn.com/v4/letter/g/dec6dc/32.png) [@gyjeong](https://forum.universal-robots.com/u/gyjeong)\
**Post date:** [July 18, 2025, 12:30am UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/6 "2025-07-18T00:30:43Z")

</div>

> **[How to control Robotiq product through port 30002 on universal robot.](https://dof.robotiq.com/discussion/1987/how-to-control-robotiq-product-through-port-30002-on-universal-robot#latest)**

I solved it through the website

---

<div class="post-metadata">

**Author:** ![shelly.bagchi](https://avatars.discourse-cdn.com/v4/letter/s/ecc23a/32.png) [@shelly.bagchi](https://forum.universal-robots.com/u/shelly.bagchi)\
**Post date:** [July 21, 2025, 8:13pm UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/7 "2025-07-21T20:13:52Z")

</div>

Thanks! It looks like the original script is gone because the site was shut down. Were you able to find it? I got the screenshots on the wayback machine, so I guess I will start from those.

---

<div class="post-metadata">

**Author:** ![shelly.bagchi](https://avatars.discourse-cdn.com/v4/letter/s/ecc23a/32.png) [@shelly.bagchi](https://forum.universal-robots.com/u/shelly.bagchi)\
**Post date:** [September 8, 2025, 5:04pm UTC](https://forum.universal-robots.com/t/robotiq-2f-85-gripper-socket-communication-to-control-gripper/40443/8 "2025-09-08T17:04:58Z")

</div>

For anyone still looking, here is the official Robotiq posting for these files:

[How to Control the Robotiq Gripper via Socket Communication](https://blog.robotiq.com/knowledge/sending-gripper-commands-via-socket-communication-5-1736280843194)