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IR Robot mightyZAP User Manual

Powerful mini linear servo motors
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Robust Mini Linear Servo Actuator ------
mightyZAP
User Manual
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-?
(Force Control Lineup)

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Summary of Contents for IR Robot mightyZAP

  • Page 1 Robust Mini Linear Servo Actuator ------ mightyZAP User Manual (Force Control Lineup) Check your product group! Does your model number start with 12Lf-? This manual is the dedicated manual for FORCE control version actuator which support  force/speed control as well as position control.
  • Page 2 Force Control Version mightyZAP USER MANUAL V.2.5 INDEX 01 Before USE Introduction For Safety For Storage Force Off 02 Basic Info Component Dimension Specification 03 Application 04 Servo Control Circuit Connection Communication Specification Packet Description Data Map Data Description Command Example...

  • Page 3: Before Use

    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: For Storage

    Force Control Version mightyZAP USER MANUAL V.2.5 our factory. However, if users use soldering or a third-party connector according to user’s desire, please pay attention to mis-wiring between the communication and power lines. Incorrect wiring results in fatal damage to the PC board or certain electrical components. Please refer to the wiring pin map on page 12 ~ 13 to prevent incorrect wiring.
  • Page 5 Force Control Version mightyZAP USER MANUAL V.2.5 Important Note : Constant load / Overload Protection Force Off Feature Overload protection (Overload shutdown) feature is to prevent overload condition which greatly affect the service life and to motor burnout. Please read the following for proper protection and use it according to the conditions.
  • Page 6 Force Control Version mightyZAP USER MANUAL V.2.5 Overload Protection Function Using Overload protection function, we can protect motor damage from overload condition. Overload protection function is being activated from the factory. When it is activated, motor power will be cut off in...
  • Page 7 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 specification for 40/53/90mm stroke version’s Self lock force.)

  • Page 8: Basic Information

    #3 M3 nut can be used to 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]...
  • Page 9 Force Control Version mightyZAP USER MANUAL V.2.5 [40mm Stroke Lineup] [53mm Stroke Lineup] [90mm Stroke Lineup]...

  • Page 10: Specification

    Force Control Version mightyZAP USER MANUAL V.2.5 2.3. Specification...
  • Page 11 Force Control Version mightyZAP USER MANUAL V.2.5 Application Factory Automation • Better Replacement of Pneumatic Cylinder • Real-Time Automatic Width Adjustment Conveyer • Real-Time Automatic Product Alignment (Up/Down or Left/Right) • Automatic Value Control (oil or water) • Automatic Dispensing with Syringe •...

  • Page 12: Servo Control

    Servo Control 4.1. Circuit Connection mightyZAP supports both data communication(Half Duplux 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. Conversion circuit will be as below.
  • Page 13 The level of "direction_port" is HIGH : TxD signal will be outputted as Data  4.2. Communication mightyZAP and your main controller will communicate by exchanging data packet. The sorts of packet are Command packet (Main controller to mightyZAP) and Feedback packet(mightZAP to your main controller) Command Packet...
  • Page 14 Force Control Version mightyZAP USER MANUAL V.2.5  Pulse Mode PPM(Pulse Position Modulation) Compatible [ Radio-Control Servo Pulse Mode] (900us(Retracted)~1500 us(Center)~2100 us(Fully Extended) Period Start Point Short Stroke Long Stroke (4ms~25ms) (0us) (900us) (2100us) ※ Short stroke : Retract stroke / Long stroke : Extend stroke ②...

  • Page 15: Packet Description

    Force Control Version mightyZAP USER MANUAL V.2.5 (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...
  • Page 16 Force Control Version mightyZAP USER MANUAL V.2.5 4. COMMAND (1Byte) Command codes defining the purpose of Packet Function CODE Description 0xF1 Feedback Packet Reception Echo 0xF2 Send "Address" and get feedback of Data Load Data 0xF3 Send "Address" and "Data". Then Save.
  • Page 17 Force Control Version mightyZAP USER MANUAL V.2.5  Element Description 1. HEADER (3Byte) Recognizing "Packet start" code. 0xFFFFFF 2. ID (1Byte) Individual ID number for each servo (1 ~253) 3. SIZE (1Byte) Packet length in Byte unit Data counting value after "Size" data (ERROR+FACTOR+CHECKSUM) value = Number of byte of "Factor"...
  • Page 18 Force Control Version mightyZAP USER MANUAL V.2.5 (3) Data Map ① Data Memory Map  Memory using data (Non-volatile) Data to be saved in non-volatile memory which maintains data even after power OFF/ON. All data will be reset to default value when Factory Reset command is executed.
  • Page 19 Force Control Version mightyZAP USER MANUAL V.2.5 37 (0x25) D Gain Derivative Gain individual SPEC 38 (0x26) I Gain Integral Gain individual SPEC 39 (0x27) P Gain Proportional Gain individual SPEC 40 (0x28) Short Stroke Pulse Width Low byte of Retract...

  • Page 20: Data Description

    Force Control Version mightyZAP USER MANUAL V.2.5 (4) 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.
  • Page 21 Force Control Version mightyZAP USER MANUAL V.2.5 8) Goal Speed Average moving speed value of motor (0 ~ 1023) When it is 0, the maneuverability is OFF and when it is 1023, it gives the maximum speed. Changing the Goal Speed does not affect the force.
  • Page 22 For instance, mightyZAP having more than 27N/35N force, rod sticks to its position firmly when motor power is off. So, in case servo motor needs to keep certain position (if mechanical frictional force is able to keep its position under power off condition against your load), apply FORCE OFF parameter.
  • Page 23 Force Control Version mightyZAP USER MANUAL V.2.5 position command value is set to 400, actuator judges that positional movement has been made properly when it reaches within 396~404 range and then stop movement. If this value is increased for stable operation, you should not increase it beyond the "Start ...
  • Page 24 Force Control Version mightyZAP USER MANUAL V.2.5 Send Data command is received. 26) Moving Moving status Value Description Goal Position command execution is completed. Goal Position command execution is under operation. 27) Lock Value Description Non-volatile Memory Modification available Non-volatile Memory Modification Unavailable...

  • Page 25: Factory Reset

    Force Control Version mightyZAP USER MANUAL V.2.5 (5) 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...

  • Page 26: Store Data

    Force Control Version mightyZAP USER MANUAL V.2.5 4) Store Data Store data after sending Address and Data to set ID, goal position, Force limit, Stroke limit, Speed, Force On/Off and etc. ID change : Change ID‘0’ into ID ‘1’(0x01) HEADER...
  • Page 27 Force Control Version mightyZAP USER MANUAL V.2.5 - Address : the address which Goal Speed value is saved. (see (3)Data Map) - Data #1 : Desired Goal Speed value’s lower byte (address 0x15 : 0x90) - Data #2 : Desired Goal Speedvalue’s upper byte (address 0x16: 0x01) ※Goal Speedvalue Hex change (decimal numberhexadecimal number) : 400 0x0190...
  • Page 28 Force Control Version mightyZAP USER MANUAL V.2.5 Force On/Off : Command packet to cut off Motor power while communication is alive. HEADER Size Command Factor #1 Factor #2 Checksum Address Data #1 0xFFFFFF 0x01 0x04 0xF3 0x80 0x00 0x87 - ID : Servo motor ID - Command : Save data at respective address in order.
  • Page 29 Force Control Version mightyZAP USER MANUAL V.2.5 Present Load: Command packet to read present Load.  Command Packet HEADER Size Command Factor #1 Factor #2 Checksum Address Length 0xFFFFFF 0x00 0x04 0xF2 0x90 0x02 0x77 - ID : Servo motor ID - Command : Read byte (equivalent to the Length number) from Address - Address : Address where present load value is saved.
  • Page 30 Force Control Version mightyZAP USER MANUAL V.2.5 7) Execution Execute temporarily stored data that is made by Send Data. Command Packet HEADER Size Command Checksum 0xFFFFFF 0x01 0x02 0xF5 0x07 - Command packet to execute all temporarily stored data at the same time.

  • Page 31: Optional Accessories

    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...
  • Page 32 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 downloaded from our web. Extension Wire (IR-EW01~04) Optional extension wires for applications which need longer wire harness.

  • Page 33: Warranty And 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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