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mightyZAP
User Manual

(Force Control Lineup)

Robust Mini Linear Servo Actuator ------



This manual is the dedicated manual for FORCE control version actuator which support
force/speed control as well as position control.



This manual is for the Force control version user who has the model number which starts
with “12Lf”. For the users have the actuator which starts with D or L, please refer to the
separate manual.



Refer to the appropriate manual as two different group products have different function
and parameters.

Check your product group!

Does your model number start with 12Lf-?

Содержание mightyZAP

Страница 1: ...ell as position control This manual is for the Force control version user who has the model number which starts with 12Lf For the users have the actuator which starts with D or L please refer to the separate manual Refer to the appropriate manual as two different group products have different function and parameters Check your product group Does your model number start with 12Lf ...

Страница 2: ...2 Basic Info 8 Component 8 Dimension 8 Specification 10 03 Application 11 04 Servo Control 12 Circuit Connection 12 Communication 13 Specification 13 Packet Description 15 Data Map 18 Data Description 20 Command Example 25 05 Optional Accessories 31 Metal Bracket PC USB Interface Arduino Servo Tester Shield 06 Warranty Service 33 ...

Страница 3: ...pply or correct battery For instance 7 0 12V for 12V input product 12Lf series The motor may be burnt when higher voltage than 13V is applied to the actuator 3 Lifespan of motor can be varied according to the load and duty cycle and etc 1 Use under rated force For instance rated force of 12Lf 20PT 27 is 20N approx 2kg That is lifespan of 12Lf 20PT 27 can be maximized when it is used less than 20N ...

Страница 4: ... you apply excessive twisting force to the rod when tightening the rod and tip while the body is fixed it may cause damage to internal part Engineering Plastic rod insert Follow below instruction to avoid damage 1 Fix the Rod end with the included M3 spanner This is to prevent the rod from turning badly and damage while tightening the M3 nut 2 According to preference install the socket set screw o...

Страница 5: ...der severe conditions even if the overall mechanism protection is more important than the servo actuator or even if the life of the servo actuator is shortened For this case shutdown function can be disabled through mightZAP servo manager software so that shutdown does not work under overload situation However in the force control version the goal current can be set so that the motor can be protec...

Страница 6: ...ket You can send Store data command to the address 0X12 which is the address for Alarm Shutdown Set bit 5 see below for Overload error from to 1 Overload activation then send Store data command to the servo motor Servo force will be cut off under overload condition if the bit is set at 1 1 Overload protection activation 0 Inactivation Error bit RESERVED 7 Instruction Error 6 Overload Error 5 Check...

Страница 7: ...orce off condition communication is still alive while motor power is off so servo will move again when servo gets new position command without giving Force ON command Force Off feature can be available for the actuator having Mechanical self lock feature Please see the chart below to see availability Below chart shows self lock force of 27mm stroke mightyZAP only Refer to the separate specificatio...

Страница 8: ... fix the hinge and hinge base Also M3 nut should be used between rod end nut and rod end tip as a stopper as shown on the picture 2 2 Dimension Please refer to detailed dimension from 3D drawing at our website www irrobot com Digital Archives mightyZAP 27mm Stroke Lineup 2 Basic Information ...

Страница 9: ...Force Control Version mightyZAP USER MANUAL V 2 5 9 40mm Stroke Lineup 53mm Stroke Lineup 90mm Stroke Lineup ...

Страница 10: ...Force Control Version mightyZAP USER MANUAL V 2 5 10 2 3 Specification ...

Страница 11: ...ion Test JIGs Hole Punching Jig Hole Inspection Jig Switch Inspection Jig Touch Panel Inspection Jig PC Board Testing Jig Robotics Robot Joints Robot Grippers Linear Control Parts of Surgical Robot UAV Professional Drone Fixed wing Aileron Elevator Throttle Flap Air Brake Rudder Throttle Helicopter Swash Plate Control Rudder Multicopter Retract Dropping Device Linear control parts for Military pro...

Страница 12: ...xxPT x Series The direction of data signal for TxD and RxD of TTL level will be determined according to the level of direction_port as below The level of direction_port is LOW Data signal will be inputted to RxD The level of direction_port is HIGH TxD signal will be outputted as Data RS 485 4Pin Connector Model Lxx xxF x Series Model Lxx xxF x Series uses RS 485 communication Pin map and Conversio...

Страница 13: ...your main controller 1 Specification Communication specification 2 Mode in One Pulse Data Mode Auto Switching mightyZAP will automatically recognize the input signal between data mode and pulse mode Data Mode Asynchronous Serial communication 8 bit 1 Stop bit None Parity Item Spec Structure Half duplex UART Baud Rate 57600bps default Data Size 8bit Parity non parity Stop Bit One bit mightyZAP uses...

Страница 14: ...ong Stroke for 30mm 4095 2100us Caution Unique ID Each mightZAP servo must have an individual ID to prevent interference between same IDs Therefore you need to set individual IDs for each servo in the network node User may assign 253 different IDs and connect 253pcs servos in serial via TTL protocol For RS 485 protocol 253 IDs can be assigned but available serial connection is upto 32pcs servo mot...

Страница 15: ...AND FACTOR 1 FACTOR N Element Description 1 HEADER 3Byte Code to recognize Packet start 0xFFFFFF 2 ID 1Byte The ID is an unique number of each servo to support Daisy Chain connection Factory default value ID is 0 In case of ID 0 it will be deemed as stand alone single connection and communicate regardless of ID except for Echo Load Data In case of ID 1 253 ID N which is stored in the servo will be...

Страница 16: ...vo ID Range 1 253 Broadcast ID 254 Stand alone ID 0 4 SIZE Packet Size COMMAND FACTOR CHECKSUM 5 ERROR Error Code 5 1 FACTOR 1 First Parameter 5 m FACTOR m m th Parameter 5 N FACTOR N Last Parameter 5 N 1 Check Sum Check Sum BinaryInvert LOWER_BYTE ID SIZE ERROR FACTOR 1 FACTOR N Start Byte 1 0xFF Start Byte 2 0xFF Start Byte 3 0xFF ID SIZE 0 255 ERROR FACTOR 1 FACTOR m FACTOR N CHECKSUM Function ...

Страница 17: ...annot be controlled with the designated maximum force it will be set as 1 Cyan Checksum Error 4 In case that transferred Checksum packet value is not correct it will be set as 1 Magenta Range Error 3 In case that the command is out of Data Map address range it will be set as 1 Blue Stroke Limit Error 1 In case that the goal position is written out of range between PULL Stroke Limit and PUSH Stroke...

Страница 18: ...t Limit Voltage Highest limit of voltage RW seeSPEC 14 0x10 Feedback Return Mode Feedback return mode RW 1 0x01 15 0x11 Alarm LED Alarm LED function RW 36 0x24 16 0x12 Alarm Shutdown Alarm Shut Down function RW 36 0x24 17 0x13 StartCompliance Margin Start Compliance Margin RW see SPEC 18 0x14 EndCompliance Margin End Compliance Margin RW see SPEC 19 0x15 Goal Speed L High byte of average speed of ...

Страница 19: ...t value RW 7 0x07 52 0x34 Goal Current L Low byte of Goal current RW 0xff 53 0x35 Goal Current H High byte of Goal current RW 0x03 Parameter Map Parameter Using Data Volatile All data to be reset to default value whenever power is On Address Name Description Access Default 0 0x80 Force ON OFF Force On Off RW 0 0x00 1 0x81 LED LED On Off RW 0 0x00 6 0x86 Goal Position L Low byte of Goal position va...

Страница 20: ...se of ID 254 0xFE it is operated under Broadcasting Mode move all servos and Feedback Packet does not work 4 Baud Rate Determining communication speed Default value is 57600bps Servo system should be rebooted to apply changed baud rate to the servo Setting Value Value Baud Rate bps 16 0x10 115200 32 0x20 57600 64 0x40 19200 128 0x80 9600 5 Return Delay Time Delay time to receive feedback packet af...

Страница 21: ...or 0 Red Even if the error is not displayed by LED error status is displayed by communication If Error is resolved alarm will be deactivated after 2 sec and turns to previous status 11 Alarm Shutdown Force will be OFF if concerned bit is set as 1 when error occurs 1 activate 0 deactivate Error bit RESERVED 7 Instruction Error 6 Overload Error 5 Checksum Error 4 Range Error 3 Stroke Limit Error 1 I...

Страница 22: ...eans more stable operation without jittering even in the environment where the external pressure electrical noise or the clearance increases but the sensitivity to drive to the desired position may be reduced In other words generally increasing this value increases durability and reducing it increases precision This value must be equal to or greater than the End compliance margin value described b...

Страница 23: ...is about 380 400 and if it is set below the value the force lower than the rated force can be made The closer the goal current is set to the stall force the higher the maximum force the motor can produce in an overload situation but it may also cause shortening of the motor lifespan If the goal current control value and the goal speed control value are set too low at the same time the actuator may...

Страница 24: ...d is received 26 Moving Moving status Value Description 0 Goal Position command execution is completed 1 Goal Position command execution is under operation 27 Lock Value Description 0 Non volatile Memory Modification available 1 Non volatile Memory Modification Unavailable ...

Страница 25: ...parameter Memory Parameter to be reset to Default value Additional Reset to be determined according to options Servo ID to be reset to 0 ID Default and Baud Rate to be maintained current status If concerned bit is 1 it means Reset If it is 0 it means Hold Feedback Packet HEADER ID Size Error Checksum 0xFFFFFF 0x01 0x02 0x00 0xFC Feedback packet informing receipt of Factory reset 3 Restart Servo sy...

Страница 26: ...ket to assign goal position to 1000 0x03E8 HEADER ID Size Command Factor 1 Factor 2 Factor 3 Checksum Address Data 1 Data 2 0xFFFFFF 0x01 0x05 0xF3 0x86 0xE8 0x03 0x95 ID Servo motor ID Command Save data at respective address in order Address the address which goal position value is saved see 3 Data Map Data 1 Desired goal position s lower byte address 0x86 0xE8 Data 2 Desired goal position s uppe...

Страница 27: ... value is saved see 3 Data Map Data 1 Desired Goal Current value s lower byte address 0x34 0x90 Data 2 Desired Goal Current value s upper byte address 0x35 0x01 Goal Current value Hex change decimal number hexadecimal number 400 0x0190 Stroke Limit 1 Command packet to assign Short Stroke limit to 100 0x0064 HEADER ID Size Command Factor 1 Factor 2 Factor 3 Checksum Address Data 1 Data 2 0xFFFFFF 0...

Страница 28: ...and packet to send Feedback packet for All commands HEADER ID Size Command Factor 1 Factor 2 Checksum Address Data 1 0xFFFFFF 0x01 0x04 0xF3 0x10 0x02 0xF5 ID Servo motor ID Command Save data at respective address in order Address the address which Feedback Return Mode value is saved see 3 Data Map Data Feedback Return Mode Data address 0x10 0x02 2 Send Feedback packet to All 5 Load Data Send addr...

Страница 29: ...mmand Packet HEADER ID Size Command Factor 1 Factor 2 Checksum Address Length 0xFFFFFF 0x00 0x04 0xF2 0x92 0x01 0x76 ID Servo motor ID Command Read byte equivalent to the Length number from Address Address Address where present voltage value is saved see 3 Data Map Length The number of byte to read from Address present voltage value consists of 2byte Feedback Packet HEADER ID Size Error Factor 1 C...

Страница 30: ...ns Servo ID 1 1023 0x03FF Servo ID 2 2047 0x07FF HEADER ID Size Command Factor 1 Factor 2 Address Length 0xFFFFFF 0xFE 0x0S 0x73 0x86 0x02 Factor 3 Factor 4 Factor 5 Factor 6 Factor 7 Factor 8 Checksum 1 ID 1 Data 1 1 Data 2 2 ID 2 Data 1 2 Data 2 0x01 0xff 0x03 0x02 0xFF 0x07 0xF1 Command packet to assign respective goal position to multiple qty servo motors at the same time Better synchronizatio...

Страница 31: ...ore flexible mounting you can use IR MB03 for 41 56 96mm stroke versions The drawing is open at our website so you may make this bracket at their end PC USB Interface IR USB01 USB Interface between mightyZAP and user s PC Through PC software mightyZAP manager user is able to control below Parameter and Memory setting Motion test Voltage temperature present position force monitoring System initiali...

Страница 32: ...ly For parameter setting user still need IR USB01 PC USB interface to utilize mightyZAP manager software Raspberry Pi HAT IR STS02 IR STS02 is a Raspberry Pi HAT Hardware Attached on Top which is compatible with Raspberry Pi B3 or Raspberry Pi Zero With TTL RS 485 PWM communication interface power connector and GPIO pins user is able to control mightyZAP on Raspberry Pie API and Library can be dow...

Страница 33: ...functions of product which are derived from customer s abuse mistake or carelessness including normal wearing of gear train tear of wire harness and motor burnt out Please kindly note that all service should be processed by designated engineers and voluntary disassembly or maintenance may void warranty IR Robot Customer Service Team Tel 82 070 7600 9466 Address ZIP 14502 1303 Bucheon Techno Park 4...

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