diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
index 31b2274b1d0598e762f20cc79070c8cb90bd122a..2daabdda37d71cd46eb11e48fcbadddebfd432f7 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
@@ -52,7 +52,7 @@ JointPWMPositionController::JointPWMPositionController(const std::string deviceN
     posController.positionLimitHi = jointData->getSoftLimitHi();
     //    controller.positionLimitLoHard = dataPtr->getHardLimitLo();
     posController.positionLimitLo = jointData->getSoftLimitLo();
-    posController.p = 3.0f;
+    posController.p = velocityControllerConfigDataPtr->posControlP;  //3.0f;
     this->isLimitless = jointData->isLimitless();
     //    ARMARX_INFO << "limitless: " << this->isLimitless;
 }