Robotiq 2F-85 on Polyscope X – Is socket communication on port 63352 still supported?

Technical Questions
1

Hi everyone,

I’m using:

  • UR7e
  • Polyscope X
  • Robotiq 2F-85
  • Robotiq URCapX (version 3.28.0.122467)

The gripper is connected to the wrist tool port and works correctly from the Polyscope X interface. I can scan, activate, open, and close the gripper without any issue.

I am trying to control the gripper from an external Python application running on a PC.

I found several examples online that use:

gripper.connect(robot_ip, 63352)

or communicate directly with a Robotiq socket server.

However, on my system:

ss -tan | grep 63352

shows nothing, and my Python script hangs when trying to connect to port 63352.

I also found a Robotiq document stating that for URCap-based grippers, commands such as rq_move() are not natively available through remote interfaces unless the corresponding URScript function definitions are loaded (e.g., via gripper.script over port 30002).

My questions are:

  1. Does Polyscope X still expose a socket server on port 63352 for Robotiq grippers?
  2. If not, what is the recommended way to control a Robotiq 2F-85 remotely from Python on Polyscope X?
  3. Is the supported solution now:
    • send gripper.script through port 30002, then
    • call rq_activate(), rq_move(), etc.?
  4. Has anyone successfully controlled a Robotiq 2F-85 from an external PC on Polyscope X without using pendant program nodes?

Any guidance or working examples would be greatly appreciated.

Thanks!

2

From my knowledge (And I’m not a PolyScope X developer, I work around the ROS driver / external control) exposing that port isn’t part of PolyScope, but depends on the URCap implementation. Since PolyScope X uses a completely different SDK compared to PolyScope 5, my assumption would be that Robotiq hasn’t ported that feature over to PolyScope X.

What you can do in the meantime is to use the GitHub - UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCapX: Utility to forward the UR Tool Communication Interface (RS-485) to a remote PC. · GitHub which will basically allow using the gripper remotely, as if it was physically connected to your external PC. You might have to uninstall the Robotiq URCap in that case, though.

3

Thank you so much ! I have solved this issue. If it’s possible to run PolyScope 5 on the Control Box V5.6, that would be an attractive option for us as well. Currently, some features in PolyScope X are not yet as polished as their PolyScope 5 counterparts, and it feels like parts of the platform are still evolving. Many of our existing developments also rely on functionality that was available in PolyScope 5.

4

@zhengyutao I guess you found your way to the answer of that question already in Installing Polyscope 5 on Model CB5 (V5.6) - #17 by zhengyutao

The statement there is still valid except for the date. 5.26 will come and support this, I cannot say exactly when.