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	set per move: up to 1500 mA for a grip, 300 mA for a long hold; see Force and speed
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; the switch is on the driver inside the body
Service port	the driver's UART, 3.3 V, 256000 baud, inside the body
Driver	Spectral Micro BLDC controller, field-oriented control, 14-bit encoder on the motor
Temperature protection	thermistor in the motor windings, 75 °C limit (changeable with `#Tlim`)

	Value
Stroke	48 mm
Grip force	ideal combined force up to about 80 N at 1500 mA; see the model assumptions in Force and speed
Jaw speed	up to about 180 mm/s per jaw at speed 255; see Force and speed
Position resolution	1/255 of the stroke: 0.19 mm per step of the position byte
Mass	440 g
Width	104 mm over the jaw plates; 60.7 mm from the top of the jaw plates to the driver board, without a coupler connector
Drive	GBM5208-75 gimbal motor, pinion (6 mm pitch radius) on two racks, MGN7 linear rail
Grasps	external (closing on the object) and internal (opening inside a hollow object)
Mounting	coupler connectors for PAROL6 and PAR6, a UR5 adapter plate, a template for your own
Fingers	on the jaw plates' four-hole pattern; at most 80 mm tall and 60 mm wide
Body material	PETG, printed

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