Catch

SKU:U102

Description

Catch is a gripper powered by the SG92R servo motor. The servo uses a PWM signal to drive the gear rotation, allowing control of the gripper for gripping and releasing actions. 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 that may cause the servo to burn out.

Features

SG92R servo motor
PWM signal drive
LEGO hole compatible
Gripper opening/closing angle of 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 robot
Servo robotic arm gripper

Specifications

Specification	Parameter
Servo Model	SG92R
Drive Signal	PWM: frequency 50Hz, 0°-45° (pulse:0.5ms-1ms) °
Operating Frequency	50Hz
Gripper 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
Product Weight	21.5g
Gross Weight	50g
Product Size (Open)	72 x 56 x 37mm
Package Size	147 x 90 x 40mm
Enclosure Material	Plastic (PC)

PinMap

When the Catch Unit is connected 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