Hi Pros,

Here is a support question we got from a customer that might be of interest to you! We were asked if it is possible to control each finger of the 3-Finger Gripper separately. In fact, yes you can! The proper bits to configure are detailed in this section of the instruction manual. You will need to enable bit rICF to control each finger individually. Then, you can write into bytes 3 to 11 to set each finger's position, speed and force request. 

Verify if the rGTO bit is activated. If it is, the fingers will move automatically to the position defined in bytes 3, 6 and 9 as soon as rICF is activated.