# Did anyone Configured Robotiq 2 finger gripper with ABBIRB 120 robot using DeviceNet lean(DSQC 652)?

**URL:** <https://tech-community.robotics.abb.com/t/did-anyone-configured-robotiq-2-finger-gripper-with-abbirb-120-robot-using-devicenet-lean-dsqc-652/7968>\
**Category:** Robot Controller\
**Tags:** robot-configuration\
**Created:** [November 15, 2017, 9:22pm UTC](https://tech-community.robotics.abb.com/t/did-anyone-configured-robotiq-2-finger-gripper-with-abbirb-120-robot-using-devicenet-lean-dsqc-652/7968 "2017-11-15T21:22:00Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![vvenki922](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/vvenki922/32/3182_2.png) [@vvenki922](https://tech-community.robotics.abb.com/u/vvenki922)\
**Post date:** [November 15, 2017, 9:22pm UTC](https://tech-community.robotics.abb.com/t/did-anyone-configured-robotiq-2-finger-gripper-with-abbirb-120-robot-using-devicenet-lean-dsqc-652/7968/1 "2017-11-15T21:22:00Z")

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if yes, Please let me know how to configure it. I have DeviceNet Universal Controller with Robotiq 2 finger gripper, I want to integrate this with ABB IRB 120 compact controller robot. I don’t have DeviceNet card in my compact controller, instead of this I want to use DeviceNet lean (DSQC652).? will this work? if yes, how to do it?

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [November 19, 2017, 7:20pm UTC](https://tech-community.robotics.abb.com/t/did-anyone-configured-robotiq-2-finger-gripper-with-abbirb-120-robot-using-devicenet-lean-dsqc-652/7968/2 "2017-11-19T19:20:43Z")

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I am not sure what you mean by DeviceNet Universal Controller, but DeviceNet lean is limited to communicating only with ABB I/O units.

It appears you have a digital I/O unit type DSQC652 - if the gripper accepts digital inputs (24 VDC) you can wire the outputs from the DSQC652 to these to control the gripper.