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Gripper Introduction

The gripper module uses the BXI gripper motor firmware for gripping, opening, closing, and end-effector applications.

Main Features

  • CAN / CAN FD bus communication.
  • MIT control mode support.
  • MIT control frames use physical position, velocity, and gripper-force values.
  • Position is expressed in mm, velocity in mm/s, and feed-forward force in N.
  • Runtime status, temperature, and AUX polling feedback are supported.

Main Parameters

Parameter Range or specification Recommended Description
Position 0 mm when closed, approximately 70 mm when open — Actual position depends on the gripper mechanism
Protocol encoding range 0–90 mm — Firmware protocol mapping range
Maximum force 50: approximately 16.37 N; 50L: approximately 24.03 N — Positive force closes; negative force opens
kp 0–5 2 Position stiffness
kd 0–1 0.05 Velocity damping
MIT control frame 8 bytes — Standard 11-bit CAN ID

The theoretical feed-forward force range differs between the 50 and 50L grippers. The actual usable gripping force is also affected by the mechanical structure, power supply, and thermal protection. See the Gripper Communication Guide for detailed communication ranges, frame formats, and register definitions.

Usage Recommendations

  1. Confirm the gripper zero position, opening direction, closing direction, and mechanical limits before first use.
  2. Start with kp=2 and kd=0.05.
  3. Begin with a low target velocity and small feed-forward force, then tune the parameters based on the actual response.
  4. Use 0 mm for closed and approximately 70 mm for open; do not treat the protocol upper limit of 90 mm as the actual opening position.
  5. Configure non-conflicting CAN IDs when multiple grippers are used simultaneously.