4.3 KiB
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, MicroPython, Arduino
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) | GPIO26 | 5V | GND |
| Catch Unit | SIGNAL | 5V | GND |
Example
?>This case controls the Catch Unit clamping jaws to perform clamping and releasing cycles.
/*
Description: Control Catch Unit through PWM.
*/
#include <M5Stack.h>
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);
}