CAD and downloads¶
Everything to download for the SSG-48, at the versions these pages describe. The versions come from one file,
versions.yml, so this page changes with them; which versions work together is in
Versions and compatibility.
Firmware, software and models¶
| What | Version | Download | How to install |
|---|---|---|---|
Driver firmware (Spectral), the gripper's only firmware: spectral-bldc-firmware-V<number>.bin and firmware.json |
107 (2026-08-26) | The release, or by Motor GUI, which fetches it | Firmware |
Python library (Spectral-BLDC) |
1.20 | pip install Spectral-BLDC; the source and examples in Spectral-BLDC-Python |
With Python |
URDF and MJCF (MuJoCo) models: the gripper alone with pinch or fin-ray fingers (ssg48_urdf.zip, ssg48_mujoco.zip), and PAROL6 and PAR6 with the gripper mounted |
2.18.1 (2026-11-03) | The release; the guide: ssg48.md | Data for robot integration |
| CAN message definitions (JSON, DBC) for this firmware release | the same release | CAN frame tool and downloads | |
| Motor GUI, the browser tool for the driver and the gripper | the current one | motorgui.com | Motor GUI |
The version links open the files at exactly that release. Known faults in each are on Known issues.
CAD and build files¶
The latest files, on the main branch of the product repository.
| What | Where |
|---|---|
| STEP files: the body parts, the whole gripper, the jaw plate and pinch jaws, the coupler connector template, the UR5 adapter plate | STEPS in the product repository |
| Printable parts (STL) of both hardware versions and the coupler connectors for PAROL6 and PAR6 | Gripper STL parts |
| Fin-ray fingers and their jaw plate | gripper jaws |
| Bill of materials | BOM.md, and on this site: Bill of materials |
| Assembly manual (PDF) and the motor's datasheet | Assembly manual |
| Assembly video | YouTube |
| Cable wiring diagrams | Building_cables.md |
More¶
| What | Where |
|---|---|
| The driver's documentation | docs.source-robotics.com/Spectral-BLDC-docs |
| ROS 2 drivers | ssg48_adaptive_electric_gripper_ros2, source_robotics_msg_gripper_ros2 |
| The legacy gripper GUI, a Python program | SSG-gripper-GUI |
| CANvas USB-to-CAN adapter | CANvas-adapter |
| This documentation | SSG48-gripper-docs |
| Shop | source-robotics.com |
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