# URScript control of Onrobot RG2 Robot Gripper **URL:** \ **Category:** URScript\ **Created:** [August 18, 2020, 1:09pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498 "2020-08-18T13:09:03Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![anon59108369](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Post date:** [August 18, 2020, 1:09pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/1 "2020-08-18T13:09:04Z")
Hi everyone, Does anyone have some discovered resources, or maybe someone wrote a code to communicate with the Onrobot RG2 gripper for the UR robot in real-time using RTDE? ---
**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Post date:** [August 21, 2020, 6:41am UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/2 "2020-08-21T06:41:15Z")
Hi @anon59108369, Your options are highly dependent if it is the first or second generation of the gripper. Maybe @asbjorn.oland, @marius.gheorghe or another OnRobot employee can assist you getting the information you need. ---
**Author:** ![anon59108369](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Post date:** [August 21, 2020, 7:19am UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/3 "2020-08-21T07:19:09Z")
It would be great if someone with the experience in OnRobot could help out. The gripper: ([RG2 Gripper - Flexible 2 Finger Robot Gripper | OnRobot](https://onrobot.com/en/products/rg2-gripper)) called RG2 Onrobot gripper, is a newly ordered one, so I assume its a 2nd generation version, though no information can be seen in the manual I have recieved. I have used the console to run the program and then analyzed the obtained script, attached below: ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/d00c8d07e160f7759940103ab0c61ebe5de89efe.png) I have tried using the Script command from the manual, to see if I can operate it in the low speeds (Not RTDE) but even that doesn’t seem to work. ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/8/8275009f28f14e75fbb24158de931d4a0bc4f45c.png) After fixing the issue in slowly commanding the robot, I will try to do RTDE. Though any advice would be appriciated at this stage as well. Would appriciate any help on this topic. @asbjorn.oland, @marius.gheorghe ---
**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Post date:** [August 21, 2020, 12:05pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/4 "2020-08-21T12:05:53Z")
Those functions are defined in the preamble by the OnRobot URCap. If you are going to use it from remote, you must copy those definitions. If you make a small program on the robot, you can take a look at the generated URScript for the program. ---
**Author:** ![anon59108369](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Post date:** [August 23, 2020, 12:09pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/5 "2020-08-23T12:09:17Z")
I did copy those definitions and tried to use them, but they are not being run… This is the problem I am having, and I think its been a problem for all the OnRobot users for a while now from what I have seen on a few different forums. I was hoping it has been fixed ---
**Author:** ![anon12747666](https://avatars.discourse-cdn.com/v4/letter/a/848f3c/32.png) [@anon12747666](https://forum.universal-robots.com/u/anon12747666)\ **Post date:** [February 10, 2021, 6:50pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/6 "2021-02-10T18:50:07Z")
Hi, Did you found a solution ? I have the same problem. ---
**Author:** ![anon59108369](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Post date:** [February 25, 2021, 10:39am UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/7 "2021-02-25T10:39:51Z")
> [@OnRobot Gripper - SOLVED](https://forum.universal-robots.com/t/onrobot-gripper-solved/8784): > > Hi everyone, For a month or so I was trying to operate the OnRobot RG2 gripper using URScript via python. The issue I was faced with was that the command which is used to open/ close the gripper works only if it is sent from a primary program coded on the teaching pendant. It doesn’t work if sent via a TCP/IP connection between robot and PC. SOLUTION For those of you who want to operate remotely via PC only here is the solution that we found: Use WebLogic which is a platform provided with … Thats my solution ---
**Author:** ![ryan.mckenna](https://avatars.discourse-cdn.com/v4/letter/r/bc8723/32.png) [@ryan.mckenna](https://forum.universal-robots.com/u/ryan.mckenna)\ **Post date:** [November 24, 2023, 8:03pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/8 "2023-11-24T20:03:07Z")
> [@anon59108369](#): > > ing the Script command from the manual, to see if I can operate it in the low speeds (Not RTDE) but even tha Hi please can you provide a link to this documentation? ---
**Author:** ![Roberto.Ancona](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/roberto.ancona/32/5620_2.png) [@Roberto.Ancona](https://forum.universal-robots.com/u/Roberto.Ancona)\ **Post date:** [November 26, 2023, 4:38pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/9 "2023-11-26T16:38:00Z")
Hi @anon12747666, to control the OnRobot RG2 I use this simple script code: ![immagine](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/c/c65f46cf27db0ff690b010cb8b057245f1b00f78.png) ---
**Author:** ![kacpern30](https://avatars.discourse-cdn.com/v4/letter/k/e480ec/32.png) [@kacpern30](https://forum.universal-robots.com/u/kacpern30)\ **Post date:** [December 1, 2023, 1:01pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper/8498/10 "2023-12-01T13:01:13Z")
Hi, I succeded in operating RG2 gripper on ur3e from ROS2. Here is my solution: >