Specifications¶

Electrical¶

	Value
Supply voltage	24 V DC; the driver tolerates 12 to 29 V, the force and speed figures assume 24 V
Idle power	0.5 W
Motor current	up to 1.5 A (21.5 mm stepper), 2.0 A (40 mm), 2.1 A (60 mm); set per move as the grip force
Interface	CAN 2.0, 1 Mbit/s, 11-bit identifiers; node ID 0 as shipped
Connector	M8, 4 pins: 24 V, GND, CANH, CANL
CAN termination	120 Ω, switchable, reachable through the stepper cover
Service port	the driver's UART, 3.3 V, 256000 baud, inside the housing
Driver	STEPFOC stepper controller, field-oriented control, 14-bit encoder on the motor shaft
Temperature protection	thermistor on the motor housing, 75 °C limit (changeable with `#Tlim`)

	Value
Stroke	55 mm (100 mm rail), 105 mm (150 mm rail), 155 mm (200 mm rail)
Mass	about 380 g with the 150 mm rail and the 21.5 mm stepper; a longer rail or stepper adds to it; centre of mass and inertia on Data for robot integration
Position resolution	1/255 of the stroke: 0.2 to 0.6 mm per step of the position byte
Drive	NEMA 17 stepper, pinion (32 DP, 21 teeth, 8.3 mm pitch radius) on two racks, MGN7 linear rail
Grip force	ideal combined force up to about 31 N (21.5 mm stepper), 50 N (40 mm) or 76 N (60 mm) at the stepper's maximum current; see the model assumptions in Force and speed
Jaw speed	up to about 190 mm/s per jaw at speed 255; see Force and speed
Grasps	external (closing on the object) and internal (opening inside a hollow object)
Mounting	coupler plate for an 8 mm shaft (shaft coupler with M4 clamp screws); a ring cover for the PAROL6 wrist
Body material	PETG, printed with 25 % infill
Jaws	printed: solid, hollow, or a PETG body with a TPU pad; sponge tape on the faces
Camera	mount for an OV9732 USB camera module (100°), looking between the jaws

	Value
Operating temperature	−5 to 65 °C
Protection	none: not waterproof or dustproof

Rail	Stroke	Stepper	Motor	Maximum current	Assumed torque constant	Ideal combined force at the maximum current
100 mm	55 mm	21.5 mm	17HS08-1004S	1.5 A	0.17 Nm/A	about 31 N
150 mm	105 mm	40 mm	17HS16-2004S1	2.0 A	0.21 Nm/A	about 50 N
200 mm	155 mm	60 mm	17HS24-2104S	2.1 A	0.30 Nm/A	about 76 N

Any rail goes with any stepper, and the body comes in black or grey; see Variants.