- 2 x 2F-140 Basic Gripper Unit (with flat rubber overmolded fingertips) AGC-GRP-2F140 - 2 x End-Effector Coupling Kit for e-Series GRP-ES-CPL-077 - 1 x Dual Adapter Plate AGC-APL-159-002 - 1 x M8 Splitter - Dual Coupling UR e-Series ACC-SPLIT-M8-1M/2F