Hi @quanluu,
Unfortunately, these features are hardcoded in the gripper themselves. This means there is no way to overwrite them. Let me know if you have any further questions.
![](https://storage.googleapis.com/robotiq-dof-uploads/userpics/797/nZ9PDFQZV3KZW.png)
You can stop the gripper when it is closing by requesting a move to the current finger position.
I recommend you check this article explaining how to change the grip force after the gripper stop on an object. It may be helpful for your project.
https://dof.robotiq.com/discussion/2249/adjust-force-after-object-detection-with-2f-and-hand-e#latest
I have a question regarding a technical issue of the 2F-140 gripper.
I am doing research to develop a robotic finger that can send the touch feedback to ROS controllers, and in turn, will immediately stop gripper movement. This developed finger was integrated into your 2F-140 gripper for grasping action.
The problem is that once the TO POSITION command is sent to the gripper, we cannot stop the closing/opening action (when there is an object detected) before it reaches the set (target) position.