Hello sir
Yes it is possible. To pickup a call from a ringing extension you just have to press *20*XXX where the XXX is the extension that is ringing.
You can press just *20* if you want, but that just picks up the first of any ringing calls, not necessarily the extension that is ringing if more than 1 extensions are ringing at the same time.
Please have in mind that *20* dialcode is configurable from the ini file under the dialcodes section.
Also have in mind that if the call originates from a ring group, that you will not be able to pick it up with *20*XXX if XXX is the extension, and in that case you will need to pick it up with *20* or *20*YYY where YYY is the number of the ring group.
Finally this feature is only a commercial version feature so its not available in the free version.
Here is a comparison between the free and commercial version to be able to see the benefits of purchasing the software. http://www.3cx.com/phone-system/edition-comparison.html
Regards