Can I make my phone ring longer before it goes to voicemail?

If I am not within 5 steps of my phone it will send the call to voice mail. If I am not in the same room as my phone and I hear it ringing I do not even try to get to it before it sends it to voice-mail. Is there any way to increase the amount of time that it rings before the call is sent to voicemail. Yesterday someone tried to video call me through Facebook messenger and it rang for a lot longer time. Normal ring is about 30 seconds the ring from the video call went for at least two minutes. Is the any way to increase the amount of time for it to ring?