# Catch Unit SKU:U102
## Description **Catch** is a gripper that uses a SG92R servo as a power source. The servo uses a PWM signal to drive the gripper gear to rotate and control the gripper for clamping and releasing operations. The structure adopts a design compatible with Lego 8mm round holes. You can combine it with other Lego components to build creative control structures, such as robotic arms, gripper carts, etc. ?>Because the opening and closing angle of the gripper is `90°`, please control the rotation angle of the driving servo to `0-45°` (PWM: freq: 50Hz, 0°-45°(pulse:0.5ms-1ms) to prevent blocking rotation. The steering gear burned out. ## Product Features - SG92R steering gear - PWM signal drive - Lego hole compatible - The jaw opening and closing angle is 90° - Compatible with RoverC - Support input voltage: 4.2-6V - Development platform [UIFlow](http://flow.m5stack.com), [MicroPython](http://micropython.org/), [Arduino](http://www.arduino.cc) ## Include - 1x Catch Unit(Built-in Servo-SG92R) - 1x HY2.0-4 adapter - 1x RoverC.Pro Connector ## Application - Robot gripper - Steering gear manipulator gripper ## Specification
Master control resources Parameters
Servo model SG92R
Drive signal PWM: freq: 50Hz, 0°-45°(pulse:0.5ms-1ms)
Working frequency 50Hz
Clamping jaw opening and closing angle 90°
Input voltage range 4.2-6V
Work dead zone 10us
Output torque 2.5kg/cm at 4.8V
Output speed 0.1sec/60° at 4.8V
Working temperature 0°C to 55°C
Net weight 21.5g
Gross weight 50g
Product size (gripper extension) 72 x 56 x 37 mm
Package size 147 x 90 x 40 mm
Shell material Plastic (PC )
## Pin mapping **When the Catch Unit is connected to PortB, the pin mapping is as follows**
M5Core(PORT B)GPIO265VGND
Catch UnitSIGNAL5VGND
## Example ?>This case controls the Catch Unit clamping jaws to perform clamping and releasing cycles.
Arduino
For BASIC/M5GO/FIRE
```clike /* Description: Control Catch Unit through PWM. */ #include const int servoPin = 26; int freq = 50; int ledChannel = 0; int resolution = 10; void setup() { // put your setup code here, to run once: M5.begin(); M5.Power.begin(); M5.Lcd.setCursor(100, 50, 4); M5.Lcd.println("Catch Unit"); M5.Lcd.setCursor(40, 120, 4); ledcSetup(ledChannel, freq, resolution); ledcAttachPin(servoPin, ledChannel); } void loop() { // High level 0.5ms is angle 0° // duty = 0.5/20ms = 0.025, 0.025*1023≈25 ledcWrite(ledChannel, 25); delay(2000); // High level 1ms is angle 45° // duty = 1/20ms = 0.05, 0.05*1023≈50 ledcWrite(ledChannel, 50); delay(2000); } ``` ## Video