diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 5bef9eb4a248efe67092c79b5025ba0149309406..43bebc2f9b230c3e95b6c6390bf0de678e4f2338 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -513,6 +513,7 @@ class RobotManager:
             if self.args.gripper == "rs485":
                 self.gripper = RobotiqHand()
                 self.gripper.connect(args.robot_ip, 54321)
+                self.gripper.reset()
                 self.gripper.activate()
                 result = self.gripper.wait_activate_complete()
                 if result != 0x31: