The 2-Finger Gripper communication protocol is RS-485. It can be easily converted to USB using the Robotiq adapter. However, if any other protocol is needed, the use of the Robotiq Universal Controller becomes necessary.The 3-Finger Gripper has its controller built-in so when ordering you need to specify the communication protocol needed. If you already have your 3-Finger Gripper in another protocol, contact support to know either you need to reprogram it yourself or update the device by sending it back to Robotiq. For more details about the 3-Finger Gripper built-in controller, click this link.The FT-150/300 Sensor communicates in RS-485 as well. So once again, it can be easily converted in USB using the Robotiq adapter. However, for any other protocol, no integrated solution exists yet. There is always a way to use a third party controller to convert the protocol.If your robot isn’t in the list above, feel free to tell us below!