Catch

SKU:U102

Description

Catch is a claw gripper powered by an SG92R servo. This servo uses PWM signals to drive the rotation of the gripper gears, controlling the gripping and releasing operations. Structurally, it features a design compatible with LEGO 8 mm round holes. You can integrate it with other LEGO components to build creative control structures such as robotic arms and gripper vehicles.

Note

Rotation Angle

Since the opening and closing angle of the gripper is 90°, please control the servo rotation angle within 0-45° (PWM: frequency 50Hz, 0°-45° (pulse: 0.5ms-1ms)) to prevent stalling and burning out the servo.

Features

SG92R Servo
PWM Signal Drive
LEGO Hole Compatible
Gripper Opening and Closing Angle 90°
Compatible with RoverC
Supported Input Voltage: 4.2-6V
Development Platforms: UIFlow, MicroPython, Arduino

Includes

1 x Catch
1 x HY2.0-4 Adapter
1 x RoverC.Pro Connector

Applications

Gripper Robots
Servo Robotic Arm Gripper

Specifications

Main Control Resource	Parameter
Servo Model	SG92R
Drive Signal	PWM: Frequency 50Hz, 0°-45° (pulse: 0.5ms-1ms)
Operating Frequency	50Hz
Gripper Opening Angle	90°
Input Voltage Range	4.2-6V
Dead Band	10us
Output Torque	2.5kg/cm at 4.8V
Output Speed	0.1sec/60° at 4.8V
Operating Temperature	0 ~ 55°C
Net Weight	21.5g
Gross Weight	50g
Product Size (Gripper Open)	72 x 56 x 37mm
Package Size	147 x 90 x 40mm
Housing Material	Plastic (PC)

PinMap

When connecting the Catch Unit to PortB, the pin mapping is as follows

M5Core (PORT B)	G26	5V	GND
Catch Unit	SIGNAL	5V	GND

Softwares

Arduino

Catch Test Example with M5Core

/*
    Description: Control Catch Unit through PWM.
*/

#include <M5Stack.h>

// Set control pin
const int servoPin = 26;
// Set frequency
int freq = 50;
// Set PWM channel
int ledChannel = 0;
// Set pulse resolution
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 x 1023≈25
    ledcWrite(ledChannel, 25);
    delay(2000);
  // High level 1ms is angle 45°
  // duty = 1/20ms = 0.05, 0.05 x 1023≈50
    ledcWrite(ledChannel, 50);
    delay(2000);
} 

UiFlow2

Catch UiFlow2 Docs