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IR Robot mightyZAP User Manual

Robust mini linear servo actuator
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Robust Mini Linear Servo Actuator ------
mightyZAP User Manual
(12Lf Force Control
This manual is the dedicated manual for 12Lf FORCE control version actuator which support
 
force/speed control as well as position control.
This manual is for the 12Lf Force control version user who has the model number which starts
 
with "12Lf" with our
For the users with 12Lf series who uses MODBUS RTU protocol, please refer separated "Force
 
control/MODBUS RTU" manual and for the users who have the actuator which starts with D or
L, please refer to the separate "Position control" actuator manual.
Check your product series!
Does your model number start with 12Lf-?
own IR
protocol.
Lineup/IR
Protocol)

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Summary of Contents for IR Robot mightyZAP

  • Page 1 Robust Mini Linear Servo Actuator ------ mightyZAP User Manual (12Lf Force Control Lineup/IR Protocol) Check your product series! Does your model number start with 12Lf-? This manual is the dedicated manual for 12Lf FORCE control version actuator which support   force/speed control as well as position control.

  • Page 2: Table Of Contents

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 INDEX 1. 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 ..................................7 2. Basic Information ....................8 2.1.

  • 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_IR Protocol_mightyZAP USER MANUAL V.3.3 wiring pin map on “4.1.Circuit Connection” page on this 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_IR Protocol_mightyZAP USER MANUAL V.3.3 1.4. Constant Load / Overload Protection 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_IR Protocol_mightyZAP USER MANUAL V.3.3 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.

  • Page 7: Force Off

    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.mightyzap.com →Digital Archives →12Lf Force control series→Drawing) [27mm Stroke Lineup]...
  • Page 9 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 [40mm Stroke Lineup] [53mm Stroke Lineup] [90mm Stroke Lineup]...

  • Page 10: Specification

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 2.3. Specification 12Lf Series Specifications Stall Force at Communication Rated Load / Lead Screw / Mechanical Current Rated Stroke Max Speed(No Self Lock Gear Ratio / Load (1.6A / 800mA / (Z Axis Use) Load) Gear Type RS-485...
  • Page 11 LED Indication PWM (PT version, R/C Hobby Signal) Pulse Signal / Pulse Range 900μs(Retracted)-1500μs(Center)-2100μs (Extended) RS-485 or TTL(PT version) / Data Communication / Protocol IR Robot open protocol (Default) / MODBUS RTU (Switchable) IP-54(Dust & Water Tight) Ingress Protection 27mm 57.5(L)x29.9(W)x15(H)mm/ 49~52g 40mm 86.9(L)x36(W)x18(H)mm/ 96~99g...

  • Page 12: Application

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 3. 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 13: Servo Control

    4. Servo Control 4.1. Circuit Connection mightyZAP(12Lf-xxPT-xx) 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. TTL Conversion circuit will be as below.
  • Page 14 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 n RS-485(4Pin Connector - Model 12Lf-xxF-xx Series) Model 12Lfxx-xxF-xx Series uses RS-485 communication. Pin map and Conversion circuit will be as below. PIN NUMBER(COLOR) PIN NAME FUNCTION(RS485) RS485 – 1(Yellow) RS485 + 2(White) Power + 3(Red) Power - 4(Black)

  • Page 15: Communication

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 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 Main Controller Feedback Packet 1.
  • Page 16 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 ② Data specification Data range is basically determined as below in both Data and Pulse modes. Rod Stroke Data Mode Pulse Mode Short (Retracting) Stroke 900us Half Stroke 2047 1500us Long (Extending) Stroke ** 4095** 2100us **For 27mm stroke mightyAP, long stroke limit is set at 27mm, but user is able to extend the...

  • Page 17: Packet Description

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 2. Packet Description ① Command Packet It is command packets for servo operation. Its structure and elements are as below. n Structure Start Byte 1 Start Byte 2 Start Byte 3 SIZE COMMAND FACTOR FACTOR FACTOR CHECKSUM...
  • Page 18 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 4. COMMAND (1Byte) Command codes defining the purpose of Packet Function CODE Description Echo Feedback Packet Reception 0xF1 Load Data Send "Address" and get feedback of Data 0xF2 Send "Address" and "Data". Then Save. Store Data 0xF3 Send "Address"...
  • Page 19 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 n Element Description 1. HEADER (3Byte) Recognizing "Packet start" code. 0xFFFFFF 2. ID (1Byte) Individual ID number for each servo (0 ~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 20: Data Map

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 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. Address Name Description...
  • Page 21 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 Gain Speed D Gain Derivative Gain Each SPEC 37 (0x25) Speed I Gain Integral Gain Each SPEC 38 (0x26) Speed P Gain Proportional Gain Each SPEC 39 (0x27) Min Position Calibration Min Position Value Trim Each SPEC 46 (0x2E) Max Position Calibration...

  • Page 22: Data Description

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 4. Data Description (1) 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.
  • Page 23 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 6) Protocol Type Value Protocol Description Industrial RS485 Standard Communication Protocol MODBUS RTU 0 (0x00) ※Refer to the separate MODBUS Protocol user manual. IR Protocol IRROBOT Open Protocol 1(0x01) non-volatile memory area. If you change the data, communication may stop for a short time during saving process.
  • Page 24 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 25 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 13) Speed Limit Average moving speed limit value of the motor (0~1023). When it is 0, the starting power   is OFF, and when it is 1023, the maximum speed is achieved. Changing the Speed Limit does not affect the Force.  ...
  • Page 26 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 17) Speed PID [0~255 / Default : Individual Spec] PID value for speed control of motor. ž If a PID value larger than the set value is applied, the motor may vibrate without being ž...
  • Page 27 For instance, mightyZAP having more than 27N rated load, 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 28 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 24) Present Position [0~4095] Current Position value. 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. 25) Present Motor Operating Rate [0~2047] Current Motor operating rate value.

  • Page 29: Command Example Packet

    Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 5. Command Example Packet 1) Echo Receiving Feedback Packet (Refer to the” Load Data” parameter for feedback on position values, etc.) Command Packet HEADER Size Command Checksum 0xFFFFFF 0x00 0x02 0xF1 0x0C - Command packet to recognize status of servo connection. Feedback Packet HEADER Size...
  • Page 30 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 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) Factor #1 Factor #2 HEADER Size...
  • Page 31 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 Goal Speed 2: Command packet to assign Goal Speed to 400(0x0190) HEADER Size Command Factor Factor Factor Checksu Data #1 Data #2 Address 0xFFFFFF 0x01 0x05 0xF3 0x15 0x90 0x01 0x60 - ID : Servo motor ID - Command : Save data at respective address in order.
  • Page 32 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 Stroke Limit 2: Command packet to assign Long Stroke limit to 3800(0x0ED8) HEADER Size Command Factor Factor Factor Checksu Data #1 Data #2 Address 0xFFFFFF 0x01 0x05 0xF3 0x08 0xD8 0x0E 0x18 - ID : Servo motor ID - Command : Save data at respective address in order.
  • Page 33 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 5) Load Data Send address and Get data feedback *Load data is data read. To avoid communication collision, at least 10msec communication delay is required in case of 57600bps baud rate. Present Position : Command packet to read present Position Command Packet Factor #1 Factor #2...
  • Page 34 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.3 Feedback Packet Factor #1 HEADER Size Error Checksum 0xFFFFFF 0x00 0x03 0x00 0x7B 0x81 - ID : Servo motor ID - Error : Error indication during operation - Factor 1 : Present Voltage value byte (ex> 0x7B) hexadecimal number à...

  • Page 35: Optional Accessories

    IR-MB03 IR-MB04 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...
  • Page 36 For more information for all available accessories, please visit our website – www.mightyzap.com.

  • Page 37: 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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