IR Robot mightyZAP User Manual page 7

Force Off Function
After the servo actuator moves to the designated position, the operation stops unless there is an external force that

causes the position value change. If the position value of the actuator is continuously changed due to vibration or
external force, the actuator is operated continuously without rest to stick to the designated position value, which
affects the lifespan of the motor.
In this case, if the Force Off function is properly utilized, the motor power can be released to allow the motor to rest

while maintaining its position with mechanical friction (Mechanical Self Lock function). Even when it is necessary to
keep the position for a relatively long time after reaching a certain position, shutting off the power of the motor
using the Force off parameter as an added safety function helps to manage the lifespan of the motor.
Under force off condition, communication is still alive while motor power is off, so servo will move again when
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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
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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.)
Rated Load
12 / 20N Lineup
31 / 40N Lineup
50 / 64N Lineup
80 / 100N Lineup
For Force Off, send 0x00 as a "Store data" command to the address(0X80) which is the address for Force ON/OFF. (For
Force ON, send 0x01)
Refer to below example for "Store Data" command.
Command Packet
HEADER ID
0xFFFFFF 0x00
- Command packet which designates Servo ID to '0'(0x00).
Under Force Off status, if user send "Goal Position" command, it is not necessary to send Force ON packet
additionally because "Goal Position" command already includes "Force On" packet in it. .
Force Control Version mightyZAP USER MANUAL V.2.5
Mechanical Self-Lock
NOT Available
Available
Available
Available
Size Command
0x04
Factor #1
Address
0xF3 0x80
7
Factor #2 Checksum
Data
0x00 0x88