# Bill of materials
!!! note "This is a copy"
The original is [BOM.md](https://github.com/Source-Robotics/MSG-compliant-AI-stepper-gripper/blob/main/BOM.md) in the gripper's repository; this page is that file as of
2026-10-31 (commit `9862f62`), with the reference images shown inline. If a link is broken or a part is wrong,
[open an issue](https://github.com/Source-Robotics/MSG-compliant-AI-stepper-gripper/issues/new) there, and the fix lands here with the next sync. The shop's
[starter kit](https://docs.source-robotics.com/MSG-gripper-docs/1.2/build/#kits-and-the-shop) covers the driver and everything its setup needs.
This BOM lists all components required to build the MSG gripper. Quantities are for **one gripper**.
!!! note
If any product links are broken, unavailable, or no longer point to the correct item, please [open an issue](https://github.com/Source-Robotics/MSG-compliant-AI-stepper-gripper/issues/new), send us a message on Discord, or contact us via email. You can also use the reference images to find the same or an equivalent part from another supplier.
## Screws and Nuts
| Diameter / Type | Length | Quantity | Description | Link |
|-----------------|--------|----------|-------------|------|
| M3 nut | | 1 | | |
| M4 | 10 mm | 2 | Screw | |
| M3 | 6 mm | 4 | Cheese head screw | |
| M3 | 25 mm | 4 | Screw | |
| M3 | 8 mm | 6 | Screw | |
| M2 | 10 mm | 1 | Screw | |
| M2 | 4 mm | 8 | Screw | |
| M2.5 | 8 mm | 6 | Screw | |
| M2 | 6 mm | 4 | Screw | |
| M3 | 22 mm | 4 | For 17HS08-1004S stepper | |
| M3 | 40 mm | 4 | For 17HS16-2004S1 stepper | |
| M3 | 60 mm | 4 | For 17HS24-2104S stepper | |
## Brass Inserts
| Thread | Length | Outer Diameter | Quantity | Description | Link |
|-------|--------|----------------|----------|-------------|------|
| M3 | 5 mm | 4.5 mm | 8 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c2RX6lzp) |
## Motors (You need one of these per gripper!)
| Type | Quantity | Description | Link |
|------|----------|-------------|------|
| 17HS08-1004S | 1 | 21.5mm stepper
{ width="120" } | [Link](https://www.omc-stepperonline.com/nema-17-bipolar-1-8deg-16ncm-22-6oz-in-1a-3-7v-42x42x20mm-4-wires-17hs08-1004s?tracking=6543849d6ff69) |
| 17HS16-2004S1 | 1 | 40mm stepper
{ width="120" } | [Link](https://www.omc-stepperonline.com/nema-17-bipolar-45ncm-64oz-in-2a-42x42x40mm-4-wires-w-1m-cable-connector-17hs16-2004s1?tracking=6543849d6ff69) |
| 17HS24-2104S | 1 | 60mm stepper
{ width="120" } | [Link](https://www.omc-stepperonline.com/nema-17-bipolar-1-8deg-65ncm-92oz-in-2-1a-3-36v-42x42x60mm-4-wires-17hs24-2104s?tracking=6543849d6ff69) |
## Mechanical Components
| Type | Quantity | Description | Link |
|------|----------|-------------|------|
| Shaft coupler | 1 | 8 mm bore, M4 screw holes
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c2xnQgI7) |
| MGN7C slider | 2 | Linear guide carriage
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c4EMqbrV) |
| Linear guide | 1 | 100 mm, 150 mm and 200 length works
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c4sRNxXV) |
| Diametrical Neodymium Magnet | 1 | 6 mm diameter, 2.5 mm thickness
{ width="120" } | [Link](https://source-robotics.com/products/6x2-5mm-diametrical-neodymium-magnet) |
| Magnet 8 x 2.5mm or 8 x 3mm | 1 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c4tF3Rzf) |
| Gear 32P 21T for 5mm shaft | 1 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c3oAnoc7) |
| Thermal cement | 1 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c3dBOwTD) |
| Sponge tape — 30 mm width, 1 mm thickness | 1 | | [Link](https://s.click.aliexpress.com/e/_c2zNJUaR) |
## Electronics
| Type | Quantity | Description | Link |
|------|----------|-------------|------|
| STEPFOC motor controller | 1 | Motor controller
{ width="120" } | [Link](https://source-robotics.com/products/stepfoc-stepper-controller) |
| 100K Thermistor | 1 | NTC temperature sensor
{ width="120" } | [Link](https://source-robotics.com/products/100k-ntc-thermistor) |
| XH 2.54 mm cable | 1 | 300 mm, 2P, double-ended (24 V power)
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c3f1efET) |
| ZH 1.5 mm cable | 1 | 300 mm, 2P, double-ended (CAN bus)
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c3f1efET) |
| M8 Male 4-pin connector | 1 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c4OWHPKF) |
| OV9732 Camera | 1 | 100 Degree version
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c3WWVLjl) |
## Cables
!!! note
**PAROL6 and PAR6 robots use different cables for SSG48 and MSG grippers. Using incorrect one can damage your robot**
Official cables from Source Robotics:
- [PAROL6 cable](https://source-robotics.com/products/gripper-cable)
- PAR6 cable - Coming soon
If you want to build your own cable, use the parts below and follow the wiring guide.
!!! tip
See the [**cable building guide**](https://github.com/Source-Robotics/MSG-compliant-AI-stepper-gripper/blob/main/Assembly%20manual/Building_cables.md) in the Assembly manual for full wiring diagrams for both the PAR6 and PAROL6 robots.
| Type | Length / Spec | Quantity | Description | Link |
|------|---------------|----------|-------------|------|
| 26 AWG cable | 0.15 mm², 4-wire twisted pair | 0.4 m | ~40 cm usually sufficient
{ width="120" } | [Link](https://s.click.aliexpress.com/e/_c4m3ggwn) |
| M8 4-pin male wire connector | — | 1 | { width="120" } |[Link](https://s.click.aliexpress.com/e/_c4OWHPKF) |
| M8 4-pin female wire connector | — | 1 | { width="120" } | [Link](https://s.click.aliexpress.com/e/_c4OWHPKF) |
!!! note
Equivalent parts from other suppliers may be used as long as specifications match.