Are you using a protective glove on you 3-Finger Adaptive Gripper (part number AGS-GLV-001)? Here are some tips that will extend the lifetime the glove: Always use the glove mode option (bit rGLV = 1). Set the bit prior to the activation and keep it set at all time to prevent premature wear of the glove (See full register mapping here). If possible, avoid full closing of the fingers (except in pinch mode). If possible, use the basic mode instead of the wide mode when full closing is required (the basic mode is optimized for minimal wear of the glove). If possible, avoid full opening in the scissor mode. Note : The 3-Finger protective glove is made of polyurethane that can work up to 250 F (120 °C).