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IR Robot mighty User Manual

Robust mini linear servo motor
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Robust Mini Linear Servo Motor ------
mightyZAP
User Manual

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  • Page 1 Robust Mini Linear Servo Motor ------ mightyZAP User Manual...

  • Page 2: Table Of Contents

    mightyZAP USER MANUAL V.1.02 INDEX 01 Before USE Introduction For Safety For Storage 02 Basic Info Component Dimension Specification 03 Application Manipulator Stewart Platform Installation 04 Servo Control Circuit Connection Communication Specification Packet Description Data Map Command Example 05 Warranty Service...

  • Page 3: Before Use

    mightyZAP USER MANUAL V.1.02 Before Use 1.1. Introduction Thank you for purchasing mightyZAP mini Linear servo motors! Please peruse this manual before use to prevent any unexpected damage of product or serious injury of users. mightyZAP mini Linear servo motors have been developed to provide reliable, high quality linear solution in compact space.

  • Page 4: Basic Info

    mightyZAP USER MANUAL V.1.02 Basic Information 2.1. Component ① mightyZAP Linear servo motor ② Hinge Base 1pc ③ M3 NUT ④ Hinge Shaft ⑤ M2.5x6 ⑥ 200mm Molex to Molex Wire ⑦ 200mm S-01 to Molex Wire 2.2. Dimension...

  • Page 5: Dimension

    mightyZAP USER MANUAL V.1.02 2.3. Specification L(7)12-20PT-3 L(7)12-40PT-3 Stock Item High Speed High Force Peak Power Point 40N@55mm/s 80N@16mm/s Peak Efficiency Point 20N@90mm/s 40N@28mm/s Max. Speed(no load) 110mm/s 37mm/s Gear Type Super Engineering Plastic Order Made Item L(7)12-13PT-3 L(7)12-64PT-3 L(7)12-100PT-3 Ultra Speed High Force Ultra Force...

  • Page 6: Application

    mightyZAP USER MANUAL V.1.0 mightyZAP USER MANUAL V.1.02 Application Application 3.1. Manipulator Blow picture shows excavator arm using mightyZAP. Blow picture shows excavator arm using mightyZAP. 4 joint link structure and 2 joint structure structure are simplified. Based on basic link structure, you can refer to below are simplified.

  • Page 7: Stewart Platform

    mightyZAP USER MANUAL V.1.02 3.2. Stewart Platform Stewart Platform having 6 rotating axis on both upper and lower panel. You can make X, Y, Z movements and plus, Z axis rotating movement. Above shows how to make rotating movement of upper panel. ①Nut ②Bearing ③Rotating Shaft...

  • Page 8: Servo Control

    mightyZAP USER MANUAL V.1.0 mightyZAP USER MANUAL V.1.02 Servo Control Servo Control 4.1. Circuit Connection mightyZAP supports both data communication(Half Duplux mightyZAP supports both data communication(Half Duplux TTL) as well as simple pulse(PWM) control. For the control TTL) as well as simple pulse(PWM) control. For the control under data communication, UART signal of main board should be converted into Half Duplex Type signal.

  • Page 9: Communication

    mightyZAP USER MANUAL V.1.02 (1) Specification ① 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...
  • Page 10 mightyZAP USER MANUAL V.1.02 ③ Daisy-Chain Connection After receiving Command Packet at multiple qty of mightZAPs, the servo whose ID is N will be operated only. (Only N ID servo will send Feedback packet and execute Command.) Command Packet(ID=N) Main Controller ID=0 ID=1...

  • Page 11: Packet Description

    mightyZAP USER MANUAL V.1.02 (2) Packet Description ① Command Packet It is command packets for servo operation. Its structure and elements are as below.  Structure Start Byte 1 Start Byte 2 Start Byte 3 SIZE COMMAND FACTOR FACTOR FACTOR CHECKSUM (0 ~ 255) (0 ~ 255)
  • Page 12 mightyZAP USER MANUAL V.1.02 COMMAND (1Byte) Command codes defining the purpose of Packet Function CODE Description Echo 0xF1 Feedback Packet Reception Load Data 0xF2 Send "Address" and get feedback of Data Store Data 0xF3 Send "Address" and "Data". Then Save. Send Data 0xF4 Send "Address"...

  • Page 13: Data Map

    mightyZAP USER MANUAL V.1.02  Element Description HEADER (3Byte) Recognizing "Packet start" code. 0xFFFFFF ID (1Byte) Individual ID number for each servo (1 ~253) SIZE (1Byte) Packet length in Byte unit Data counting value after "Size" data (ERROR+FACTOR+CHECKSUM) value = Number of byte of "Factor" + 2 That is, Size ERROR (1Byte) Error status during operation for each bit...

  • Page 14: Communication

    mightyZAP USER MANUAL V.1.02 (3) Data Map ① Data Memory Map Memory using data (Non-volatile)  Data to be saved in non-volatile memory which maintain data even after power OFF/ON. All data will be reset to default value when Factory Reset command is executed. Address Name Description...
  • Page 15 mightyZAP USER MANUAL V.1.02 38 (0x26) I Gain Integral Gain individual SPEC 39 (0x27) P Gain Proportional Gain individual SPEC 40 (0x28) Short Stroke Pulse Width 132 (0x84) Low byte of Retract direction pulse width 41 (0x29) Short Stroke Pulse Width 3 (0x03) High byte of Retract direction pulse width...
  • Page 16 mightyZAP USER MANUAL V.1.02 High byte of present 13 (0x8D) Present Position(H) position value Low byte of present speed 14 (0x8E) Present Speed(L) value High byte of present speed 15 (0x8F) Present Speed(H) value Low byte of present load 16 (0x90) Present Load(L) value High byte of present load...

  • Page 17: Command Example

    mightyZAP USER MANUAL V.1.02 (4) Command Example Packet 1) Echo Receiving Feedback Packet Command Packet HEADER Size Command Checksum 0xFFFFFF 0x00 0x02 0xF1 0x0C - Command packet to recognize status of servo connection. Feedback Packet HEADER Size Error Checksum 0xFFFFFF 0x00 0x02 0x00...
  • Page 18 mightyZAP USER MANUAL V.1.02 Feedback Packet HEADER Size Error Checksum 0xFFFFFF 0x01 0x02 0x00 0xFC - Feedback packet informing receipt of servo's goal position command. 4) Send Data Send "Address" and "Data", Then temporarily store it. Command Packet HEADER Size Command Factor #1 Factor #2...
  • Page 19 mightyZAP USER MANUAL V.1.02 7) Restart Servo system Restart Command Packet HEADER Size Command Checksum 0xFFFFFF 0x00 0x02 0xF8 0x05 - Command packet to reboot servo system. Feedback Packet HEADER Size Error Checksum 0xFFFFFF 0x00 0x02 0x00 0xFD - Feedback packet informing receipt of Restart command of servo system Symmetric Store Save data in the same address of multiple servos.

  • Page 20: Communication

    mightyZAP USER MANUAL V.1.02 (5) Data Description 1) Model Number The model number of MightyZAP "Read" only to discriminate & recognize concerned model 2) Version of Firmware Check if current firmware is the latest version. 3) ID ID to discriminate each servo. Different IDs should be assigned in Daisy-Chain system. In case of ID = 0, it will be deemed as stand-alone(single) connection and communicate regardless of ID.
  • Page 21 mightyZAP USER MANUAL V.1.0 mightyZAP USER MANUAL V.1.02 Stroke Limit Stroke limit between Short Stroke Short Stroke (A) and Long Stroke (C) which is the max/min. value of which is the max/min. value of Goal Position. (Range: 0 ~ 4095 ) 6) The Highest Limit Temperature Highest Limit Temperature Temperature limitation of servo inner space.
  • Page 22 mightyZAP USER MANUAL V.1.02 9) Alarm LED If concerned bit is set as "1" when error occurs, LED indication will be activated. Error LED Indicate RESERVED LED Off Instruction Error White Overload Error Cyan Checksum Error Magenta Range Error Blue Overheating Error Yellow Stroke Limit Error...
  • Page 23 mightyZAP USER MANUAL V.1.02 13) Third-Party Program Interface / Firmware Version Program interface format setting factor for 3rd party program Set as below according to 3rd party program's Resolution factor. Resolution Resolution Factor Program Interface Firmware Version 4096 37 or higher 1024 25 or higher 14) Short / Long Stroke Pulse Width...
  • Page 24 mightyZAP USER MANUAL V.1.02 Half Stroke 2047 1023 Long Stroke 4095 2047 1023 Resolution can be adjusted according to Resolution Factor setting. 20) Moving Speed Moving speed setting. Range is between 0~1023. The higher value, the faster speed. (But, 0 means the Maximum speed.) When power is ON, it will be initialized to "0".
  • Page 25 mightyZAP USER MANUAL V.1.02 Value Description Send Data command is NOT received. Send Data command is received. 28) Moving Moving status Value Description Goal Position command execution is completed. Goal Position command execution is under operation. 29) Lock Value Description Non-volatile Memory Modification available Non-volatile Memory Modification Unavailable 30) Punch...

  • Page 26: Warranty Service

    The warranty period of mightZAP is 1 year from the date of purchasing the goods. Please prepare some evidence showing the date of purchase and contact your product supplier or IR Robot. Warranty service will not cover the malfunctions 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).

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