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How to control the fingers individually on the 3F Gripper ?

Use Modbus or URScript to command fingers A, B, and C independently

Context

This article explains how to activate and operate the Robotiq 3-Finger Adaptive Gripper in individual finger mode. This allows you to control the position, speed, and force of each finger separately.

 

1. Declare the register

You have first to declare the register to the MODBUS menu in the Installation menu :

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You have to declare all the registers : 

 

2. Activate the Gripper

Before individual control, you must activate the gripper:

  • Set rACT = 1 (Activation request)

  • Set rGTO = 1 (Go to position)

These are done via Modbus registers or URScript if you're using a Universal Robots controller.

 

2. Enable Individual Finger Mode

To enable individual finger control:

  • Set the register rICF = 1
    This switches the control mode from basic (synchronized motion) to individual.

3. Send Position, Speed, and Force Commands

Use the following registers to control each finger:

  • Position:

    • rPRA for Finger A

    • rPRB for Finger B

    • rPRC for Finger C

  • Speed (same register set applies):

    • rSPA, rSPB, rSPC

  • Force:

    • rFRA, rFRB, rFRC

You can update these values at runtime to control each finger’s behavior independently.

 

 

Documentation

All the useful documentation is available on our Support website, in section 3F > Universal Robot > Documentation. 

 

Conclusion

Activating individual finger mode gives you precise control over grasping behavior. This feature is ideal for handling objects with varying shapes or when custom gestures are needed.