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Robust Mini Linear Servo Actuator ------
mightyZAP User Manual
(12Lf Force Control Lineup /
This manual is the dedicated manual for 12Lf FORCE control version actuator which support
force/speed control as well as position control.
MODBUS RTU Protocol is available for Force control lineup (RS-485 and TTL) only.
This manual is for the MODBUS protocol users of the Force control lineup actuators who have
the model number which starts with "12Lf".
For the users who needs IR Robot own protocol with the Force control actuators, please refer to
the separate "Force control/IR Protocol" actuator manual.
For the users who have the actuator which starts with D or L, please also refer to the separate
"Position control" actuator manual.
Check your product group!
Does your model number start with 12Lf-?
MODBUS
Protocol)
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Summary of Contents for IR Robot mightyZAP
- Page 1 This manual is for the MODBUS protocol users of the Force control lineup actuators who have the model number which starts with “12Lf”. For the users who needs IR Robot own protocol with the Force control actuators, please refer to the separate “Force control/IR Protocol” actuator manual.
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Page 2: Table Of Contents
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG INDEX Before Use ................3 1.1 Introduction ......................3 1.2 For Safety ......................3 1.3 For Storage ......................4 1.4 Constant Load / Overload Protection ............5 1.5 Force Off Function ..................... 7 Basic Information ..............8 2.1 Component ...................... -
Page 3: Before Use
Linear servo motors have been developed to provide reliable, high quality linear solution in compact space. mightyZAP mini Linear servo motors can be applied in various fields such as factory automation, medical devices, robotics, professional UAV and radio control hobby. -
Page 4: For Storage
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG wiring pin map on 4.1 Circuit connection page of the user manual to prevent incorrect wiring. Position command within mechanical limit : There should be mechanical limit which servo rod can move when user install servo motor in their application. Make sure that positional command should be made within user’s mechanical limit. -
Page 5: Constant Load / Overload Protection
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 1.4 Constant Load / Overload Protection Important Note : Constant load / Overload Protection / Force Off Function 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_MODBUS mightyZAP USER MANUAL V3.1_ENG 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 case of overload condition to protect the servo actuator The easiest way to set(activate/inactivate) Overload protection function is to connect servo with Servo Manager Software using IR-USB01 PC USB interface.
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Page 7: Force Off Function
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 and rod-end tip as a stopper. Dimension Please refer to detailed dimension from 3D drawing at our website. (www.mightyzap.com →Digital Archives →12Lf Force control series→Drawing) [27mm Stroke Lineup]... - Page 9 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG [40mm Stroke Lineup] [53mm Stroke Lineup] [90mm Stroke Lineup]...
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Page 10: Specification
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 2.3 Specification Stall Force at Communication Rated Load / Lead Screw / Mechanical Current Rated Max Speed(No Self Lock Stroke Gear Ratio / Load (1.6A / 800mA / (Z Axis Use) Load) Gear Type... - Page 11 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 12Lf Series Common Specifications Stroke Unidirectional 27mm / 40mm 30μm(0.03mm) Repeatability 53mm 40μm(0.04mm) 90mm 50μm(0.05mm) Mechanical Backlash 0.03mm(30μm) Rod Type Metal Alloy Rod Motor Type Coreless Motor Rated Voltage Motor Watt At Rated Load...
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Page 12: Applications
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 3. Applications 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 13: Servo Control
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4. Servo Control 4.1 Circuit Connection TTL (3Pin Connector-Model 12Lf-xx-xxPT-x Series) : 12V Communication Voltage 3V~5V Data ( VDD (Red) GND (Black) 74LVC2G241 The direction of data signal for TxD and RxD of TTL level will be determined according to the level of direction_port as below. -
Page 14: Communication
§ 4.2 Communication mightyZAP and your main controller will communicate by exchanging data packet via RS-485 or TTL data communication. There are two packets, the one is Command packet (Main controller to mightyZAP) and the other is the Feedback packet(mightZAP to your main controller). PWM does not support feedback data. - Page 15 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG ② 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 to ID N...
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Page 16: Packet Description
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4.2.2 Packet Description ① Command Packet It is command packets for servo operation. Its structure and elements are as below. n Structure n Element Index Data Description ≥3.5 char Start Servo ID (Range : 1 ~ 247, Broadcast ID: 0) - Page 17 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4. Data(1Byte) Varies depends on the function code, and the field configuration is at least 2bytes. Composed of Register Address, Data, Byte-Count, etc. 5. CRC Check Consists of 2 bytes. Transmission order is in the order of lower 1 byte + upper 1 byte.
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Page 18: Data Map
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4.2.3 Data Map ① Data Memory Map Multi write function is not supported. All data will be reset to default value when Reset command is executed. Address addr Name Access Default Type 40001 Model Number... -
Page 19: Data Description
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4.2.4 Data Description Non-Volatile Memory 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 [1~247 / Default : 1] ID to discriminate each servo. - Page 20 Overload error / Input voltage error shutdown feature is Overload Error activated from the factory. These can be disabled by Input Voltage user using mightyZAP manager software according to Error their wish, but please consider carefully to protect the motor.
- Page 21 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 11) Compliance Margin Start Compliance Margin (Recommended margin value : 7 ~ 15) Minimum margin value for the servo actuator to start position movement. For example, if the compliance margin is 7 and the current position value is 400, motor ...
- Page 22 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 13) Current Limit [0~1600 / Default : 800] Maximum current limit of the motor (0~1600). Set the control value from 0 to 1600, and the control value 1600 represents the maximum current value of 1600mA.
- Page 23 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 16) Current PI [0~255 / Default : Individual Spec] PI value for motor current control. If a larger PI value than the set value is applied, it may ž behave harshly for the error between Goal Current and Present Current.
- Page 24 Power to be supplied to the motor and Force is migtyZAP keeps its position due to mechanical design even after motor power is off. For instance, mightyZAP having more than 27N or higher rated load spec, rod sticks to its position firmly when motor power is off.
- Page 25 Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 24) Present Position [0~4095] Current Position value monitoring. Range is between 0~4095, and even after the motor is stopped, the minute position change within the margin value can be made, and this is a normal operation.
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Page 26: Command Example Packet
Force Control_MODBUS mightyZAP USER MANUAL V3.1_ENG 4.2.5 Command Example Packet 1) ‘03’ : Read Holding Register(0x03) Example ▶ Request Starting Starting No of No of Address Function CRC Lo CRC Hi Address Hi Address Lo Register Hi Register Hi 0x01... -
Page 27: Optional Accessories
IR-MB04 at their end. IR-MB03 PC USB Interface (IR-USB02) 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... - Page 28 For more information for all available accessories, please visit our website – www.mightyzap.com.
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Page 29: Warranty
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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