Hi everyone I am interested if there is command in RAPID or something so I can open/close my real gripper partially(eg. 10 mm from both sides) and not completely
Maybe take a look at the gripper manual 
https://library.e.abb.com/public/c9f66b2b80bc42bba49c20970bed1b0d/3HAC052982%20PS%20IRB%2014000-en.pdf?x-sign=09i961Kw9WYypn8AUDHOiC8hUT/kTjLE+VudbTeATcD5UcH0biKarKLuRwEL+rKw
p.119