IR Robot mightyZAP User manual

mightyZAP User Manual
(12Lf#Force Control Lineup/IR Protocol)
Robust Mini Linear Servo Actuator ------
!!"#$ %&'(&) #$ *"+ ,+,#-&*+, %&'(&) ./0 12Lf FORCE control version actuator 1"#-" $(22/0*
./0-+/$2++, -/'*0/) &$ 1+)) &$ 2/$#*#/' -/'*0/).
!!"#$ %&'(&) #$ ./0 *"+ 123. 4/0-+ -/'*0/) 5+0$#/' ($+0 1"/ "&$ *"+ %/,+) '(%6+0 1"#-" $*&0*$
1#*" “123.” 1#*" /(0 /1'78 20/*/-/).
!4/0 *"+ ($+0$ 1#*" 123. $+0#+$ 1"/ ($+$ 9:;<=> 8!= 20/*/-/), 2)+&$+ 0+.+0 $+2&0&*+, “4/0-+
-/'*0/)/9:;<=> 8!=” %&'(&) &', ./0 *"+ ($+0$ 1"/ "&5+ *"+ &-*(&*/0 1"#-" $*&0*$ 1#*" ;/0
3, 2)+&$+ 0+.+0 */ *"+ $+2&0&*+ “?/$#*#/' -/'*0/)” &-*(&*/0 %&'(&).
Check your product series!
Does your model number start with 12Lf-?

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
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INDEX
1. Before Use ........................................................................................................... 3
1.1. Introduction ................................................................................................................................................................... 3
1.2. For Safety ........................................................................................................................................................................ 3
1.3. For Storage ..................................................................................................................................................................... 4
1.4. Constant3Load3/3Overload3Protection .................................................................................................................... 5
1.5. Force Off .......................................................................................................................................................................... 7
2. Basic Information ............................................................................................... 8
2.1. Component ..................................................................................................................................................................... 8
2.2. Dimension ....................................................................................................................................................................... 8
2.3. Specification ................................................................................................................................................................. 10
3. Application ........................................................................................................ 12
4. Servo Control .................................................................................................... 13
4.1. Circuit Connection ..................................................................................................................................................... 13
4.2. Communication ........................................................................................................................................................... 15
1. Specification ........................................................................................................................................................ 15
2. Packet Description ............................................................................................................................................ 17
3. Data Map .............................................................................................................................................................. 20
4. Data Description ................................................................................................................................................ 22
5. Command Example Packet ............................................................................................................................. 29
5. Optional Accessories ........................................................................................ 35
6. Warranty Service .............................................................................................. 37
6.1. Warranty &Service ................................................................................................................................................... 37

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1. Before Use
1.1. Introduction
!"&'@ A/( ./0 2(0-"&$#'B %#B"*ACD? %#'# 3#'+&0 $+05/ %/*/0$! ?)+&$+ 2+0($+ *"#$ %&'(&) 6+./0+ ($+ */
20+5+'* &'A ('+E2+-*+, ,&%&B+ /. 20/,(-* /0 $+0#/($ #'F(0A /. ($+0$.
%#B"*ACD? %#'# 3#'+&0 $+05/ %/*/0$ "&5+ 6++' ,+5+)/2+, */ 20/5#,+ 0+)#&6)+, "#B" G(&)#*A )#'+&0 $/)(*#/'
#' -/%2&-* $2&-+. %#B"*ACD? %#'# 3#'+&0 $+05/ %/*/0$ -&' 6+ &22)#+, #' 5&0#/($.#+),$ $(-" &$ .&-*/0A
&(*/%&*#/', %+,#-&) ,+5#-+$, 0/6/*#-$, 20/.+$$#/'&) =DH &', 0&,#/ -/'*0/) "/66A.
[Features]
§ Position Control (?/$#*#/'&) D--(0&-A 50I90(% – $++ $2+- -"&0* /. +&-" %/,+))
§ Stall6Force Control 6&$+, /' J(00+'* .++,6&-@
§ Speed Control 6A 1024 8+$/)(*#/'
§ <()#*-#' ;0#5+ -#0-(#*
§ 4096 >*+2 K#B" 8+$/)(*#/'
§ K#B" ?+0./0%&'-+ J/0+)+$$ 9/*/0
§ 9#'#%#L+, 9+-"&'#-&) <&-@)&$" (30(%)
§ ME-+))+'* >(6$*#*(*+ ./0 2'+(%&*#- -A)#',+0 1"#-" ,/+$ '/* $(22/0* 2/$#*#/' -/'*0/)
§ 8+&$/'&6)+ J/$*
1.2. For Safety
?)+&$+ 2+0($+ $&.+*A #'$*0(-*#/' 6+)/1 */ ($+ %#B"*ACD? $&.+)A. ?)+&$+ @#',)A '/*+ *"&* &6($+ %&A #'5&)#,&*+
A/(0 1&00&'*A.
1. Do NOT press the Rod when the servo is being operated.9/*/0 %&A 6+ ,&%&B+,(6(0'*) #. "#B"+0
./0-+ *"&' 0&*+, ./0-+ #$ &22)#+, -/'$#$*+'*)A.
2. Apply proper input voltage ($#'B 2/1+0 $(22)A /0 -/00+-* 6&**+0A. 4/0 #'$*&'-+, 7.0I12H./0 12H#'2(*
20/,(-*(123. $+0#+$). !"+ %/*/0 %&A 6+ 6(0'* 1"+' "#B"+0 5/)*&B+ *"&' 13H#$ &22)#+, */ *"+ &-*(&*/0.
3. Lifespan of motor can be varied according to the load and duty cycle and etc.
1) Use under rated force. 4/0 #'$*&'-+,0&*+, ./0-+ /. 123.-20?!-27 #$ 20N(&220/E. 2@B). !"&* #$,
)#.+$2&' /. 123.-20?!-27 -&' 6+ %&E#%#L+, 1"+' #* #$ ($+, )+$$ *"&' 20N./0-+ -/',#*#/'. !"+
)/1+0 )/&, -/%2&0#'B */ 0&*+, ./0-+, *"+ )/'B+0 )#.+$2&' /. *"+ %/*/0.
2) Use under 50% of Duty Cycle : 7. ;J %/*/0 /2+0&*+$ -/'*#'(/($)A 1#*"/(* &'A #'*+05&) (0+$*),
%/*/0 1#)) 6+ /5+0)/&,+, &', /5+0)/&, 20/*+-*#/' .+&*(0+ 1#)) -(* /.. *"+ 2/1+0 /. $+05/ %/*/0.
!"+0+./0+, ($+0 $"/(), -/'$#,+0 “;(*A -A-)+” 1"#-" %+&'$ *"+ 2+0-+'*&B+ /. /2+0&*#'B *#%+ &B&#'$*
#'*+05&) *#%+. 7' /*"+0 1/0,$, 50% ,(*A -A-)+ %+&'$ *"&* %/*/0 $"/(), 0+$* 50% /. *#%+ 1"+'
%/*/0 /2+0&*+ ,(0#'B 50% /. *#%+ */ %&'&B+ %/*/0 )#.+$2&' %/0+ +..#-#+'*)A. =$+ (',+0 50% /.
,(*A -A-)+ ./0 /2*#%#L+, )#.+$2&'. !"+ )+$$ ,(*A -A-)+, *"+ )/'B+0 )#.+$2&'.
3) "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo
motor.K/1+5+0, *"#$ .+&*(0+ -&' 6+ ($+, 1"+' *"+0+ #$ '/ 20/6)+% #' A/(0 $A$*+% +5+' #. 0/,
2/$#*#/' #$ -"&'B+, ,(+ */ +E*+0'&) ./0-+ 6+-&($+ "./0-+ /.." %&@+$ $+05/ ./0-+ #$ 0+)+&$+,.
4. Proper wiring: !"+0+ #$ )#**)+ -"&'-+ /. #'-/00+-* 1#0#'B 1"+' ($#'B 1#0+ "&0'+$$ 1#*" -/''+-*/0
20/5#,+, 6A /(0 .&-*/0A. K/1+5+0, #. ($+0$ ($+ $/),+0#'B /0 &*"#0,-2&0*A -/''+-*/0 &--/0,#'B */ ($+0’$
,+$#0+, 2)+&$+ 2&A &**+'*#/' */ %#$-1#0#'B 6+*1++' *"+ -/%%('#-&*#/' &', 2/1+0 )#'+$. 7'-/00+-*
1#0#'B 0+$()*$ #' .&*&) ,&%&B+ */ *"+ ?J 6/&0, /0 -+0*&#' +)+-*0#-&) -/%2/'+'*$. ?)+&$+ 0+.+0 */ *"+

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1#0#'B 2#' %&2 /' “4.1.J#0-(#*OJ/''+-*#/'PO2&B+ /'O*"#$O%&'(&) */ 20+5+'* #'-/00+-* 1#0#'B.
5. Position command within mechanical limit : !"+0+ $"/(), 6+ %+-"&'#-&) )#%#* 1"#-" $+05/ 0/, -&'
%/5+ 1"+' ($+0 #'$*&)) $+05/ %/*/0 #' *"+#0 &22)#-&*#/'. 9&@+ $(0+ *"&* 2/$#*#/'&) -/%%&', $"/(), 6+
%&,+ 1#*"#' ($+0’$%+-"&'#-&) )#%#*. 7* #$ *// -/%%/' */ %+'*#/', 6(* 1+ -/(), $++ *"#$ %#$*&@+ .0/%
*#%+ */ *#%+. 7. 2/$#*#/'&) -/%%&', #$ /(* /. %+-"&'#-&) )#%#*, $+05/ 1#)) 6+ /5+0)/&,+, &* -+0*&#' 2/#'*
/. *#%+ &', 2/1+0 1#)) 6+ -(* /.. */ 20/*+-* *"+ $+05/ ,(+ */ /5+0)/&, 20/*+-*#/' .+&*(0+. (#. /5+0)/&,
20/*+-*#/' #$ #'&-*#5&*+, 6A ($+0, %/*/0 1#)) 6+ '/* 6+ 20/*+-*+,.) J/'$#,+0#'B 20+-#$+ 2/$#*#/' -/'*0/),
%&@+ $(0+ */ 0+--"+-@ *"#$ %&**+0 1"+' $+05/ #$ &22)#+,.
6. It is strictly banned to use multiple qty actuators for single
objective.;(+ */ ;J %/*/0 -"&0&-*+0#$*#-, +&-" &-*(&*/0’$$2++, -&' 6+
$)#B"*)A 5&0#+, +5+' #. *"+A &0+ $&%+ %/,+) &', B/&) 2/$#*#/' #$ $&%+.
(%&A -&($+ /5+0)/&, */ /'+ /. &-*(&*/0)
7. Do not TWIST the rod with excessive force when tightening the rod end tip.
7. A/( &22)A +E-+$$#5+ *1#$*#'B ./0-+ */ *"+ 0/, 1"+' *#B"*+'#'B
*"+ 0/, &', *#2 (1"#)+ *"+ 6/,A #$ .#E+,), #* %&A -&($+ ,&%&B+
*/ #'*+0'&) 2&0* (M'B#'++0#'B ?)&$*#- 0/,-#'$+0*). 4/))/1 6+)/1
#'$*0(-*#/' */ &5/#, ,&%&B+.
1) 4#E *"+ 8/,-+', 1#*" *"+ #'-)(,+, 93 $2&''+0 (
⑤
). !"#$ #$
*/ 20+5+'* *"+ 0/,
(
①
) .0/% *(0'#'B
6&,)A &', ,&%&B+
1"#)+ *#B"*+'#'B *"+
93 '(* (
②
).
2) D--/0,#'B */
20+.+0+'-+, #'$*&))
*"+ $/-@+* $+* $-0+1 (
③
) /0 0/, +', *#2(
④
) */ *"+ 20/2+0 2/$#*#/'#'B 6+./0+ "&0, *#B"*+'#'B.
3) D,F($* *"+ &'B)+ /. *"+ 0/, +', *#2 (
④
) */ *"+ ,+$#0+, &'B)+. <A ($#'B &)/'B '/$+ 2)#+0(/0 +E*0& 93
$2&''+0), .#E *"+ 2/$#*#/' 6A *#B"*+'#'B *"+ 93 '(* (
②
) 1"#)+ 0/, +', #$ .#E+, 1#*" 93 $2&''+0($++
&6/5+ #%&B+.). !"#$ #$ “,/(6)+ '(*$” -/'-+2* 1"#-" .#E+$ %+-"&'#-&) 2/$#*#/' 6A .0#-*#/'.
8. Use properly "Overload protection" feature to protect the servo and your system from damage.
:5+0)/&, 20/*+-*#/' .+&*(0+ #$ &-*#5&*+, .0/% *"+ .&-*/0A, &', ./0 /*"+0 20/*+-*#/' $+**#'B, #. '+-+$$&0A,
$+* “Alarm shutdown” feature &--/0,#'B */ A/(0 $A$*+%'$-/',#*#/'.
9. Do NOT touch the servo case right after servo operation. 7* %&A "/*.
10. Keep away from water, humidity, dust and oil.
11. 7* #$ ,+$#B'+, ./0 #',//0 2(02/$+. Do not use in outdoor.
12. Keep out of reach of children. Keep hands off when servo motor operates to avoid
unexpected injury.
1.3. For Storage
;/ N:! $*/0+/($+ $+05/ %/*/0 (',+0 6+)/1 +E*0+%+ -/',#*#/'. 7* %&A -&($+ %&).('-*#/' /0 ,&%&B+ /.
20/,(-*.
§ ;#0+-* )#B"* &', K#B" *+%2+0&*(0+ %/0+ *"&' 70 ˚J/0 3/1 *+%2+0&*(0+ )/1+0 *"&' %#'($ 20˚J.
§ K#B")A K(%#, $2&-+ / >2&-+ "&5#'B H#60&*#'B -/',#*#/' / >2&-+ "&5#'B ;($* / >2&-+ -&($#'B
M)+-*0/$*&*#-

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1.4. Constant3Load3/3Overload3Protection
:5+0)/&, 20/*+-*#/' (:5+0)/&, $"(*,/1') .+&*(0+ #$ */ 20+5+'* /5+0)/&, -/',#*#/' 1"#-" B0+&*)A &..+-* *"+
$+05#-+ )#.+ &', */ %/*/0 6(0'/(*. ?)+&$+ 0+&, *"+ ./))/1#'B ./0 20/2+0 20/*+-*#/' &', ($+ #* &--/0,#'B */ *"+
-/',#*#/'$.
About mechanism of overload protection (overload shutdown) and terminology
! !"+ /5+0)/&, 20/*+-*#/' %+-"&'#$% /. *"+ 123.O4/0-+ J/'*0/) $+0#+$ ($+$ &-/%6#'&*#/' /. -(00+'*
&--(%()&*#/' &', /2+0&*#/' *#%+ &--(%()&*#/'.
- 7' -&$+ /. -/'*#'(/($ /2+0&*#/' D! 0&*+, )/&,, >"(*,/1' /--(0$ &.*+0 &6/(* 30 $+- &$ *"+
&--(%()&*+, -(00+'* 5&)(+.
- 7' -&$+ /. -/'*#'(/($ /2+0&*#/' =N;M8 0&*+, )/&,, >"(*,/1' /--(0$ &.*+0 )/'B+0 *"&' 30 $+-, 6(*
>"(*,/1' 1#)) 6+ %&,+ 1#*"#' %&E. 180 $+- +5+' &* *"+ )/1+$* )/&,.
- 7' -&$+ /. -/'*#'(/($ /2+0&*#/' D<:HM 0&*+, )/&,, >"(*,/1' /--(0$ $"/0*+0 *"&' 30 $+-/',$ ,(+ */
*"+ "#B" &%/('* /. -(00+'* &--(%()&*#/'. 4/0 +E&%2)+, $"(*,/1' /--(0$ 1#*"#' 2 $+-/',$ 1"+'
*"+ %&E#%(% -(00+'* /. 1.6D.)/1$.
! ;(*A -A-)+ #$ *"+ 0&*#/ /. *"+ *#%+ 1"#-" %/*/0 #$ &-*(&))A ,0#5+' &B&#'$* *"+ *#%+ /. %/*/0 0+$*.
! ;(*A -A-)+ 50% %+&'$ *"&* 50% /. *"+ *#%+ $"/(), 6+ 0+$*/0+, #. *"+ %/*/0 0('$ 50% /. *"+ *#%+.
! 9/*/0 /2+0&*#'B *#%+ #'-)(,+$ *"+ *#%+ 1"#-" *"+ %/*/0 0/*&*+$/%/5+$ '/0%&))A &$ 1+)) &$ *"+ *#%+
1"#-" %/*/0 ,0&1$ -(00+'* 6A $*(-@ -/',#*#/' 1#*"/(* %/*/0 0/*&*#'B.
Overload shutdown Disable
!"+ /5+0)/&, $"(*,/1' .('-*#/' 20/*+-*$ *"+ $+05/ &-*(&*/0 (',+0 /5+0)/&, -/',#*#/'$. ;+2+',#'B /' *"+
&22)#-&*#/', *"+0+ &0+ &22)#-&*#/'$ *"&* '++, */ 6+ /2+0&*+, (',+0 $+5+0+ -/',#*#/'$, +5+' #. *"+ /5+0&))
%+-"&'#$% 20/*+-*#/' #$ %/0+ #%2/0*&'* *"&' *"+ $+05/ &-*(&*/0, /0 +5+' #. *"+ )#.+ /. *"+ $+05/ &-*(&*/0 #$
$"/0*+'+,. 4/0 *"#$ -&$+, $"(*,/1' .('-*#/' -&' 6+ ,#$&6)+, *"0/(B" %#B"*CD? $+05/ %&'&B+0 $/.*1&0+ $/ *"&*
$"(*,/1' ,/+$ '/* 1/0@ (',+0 /5+0)/&, $#*(&*#/'.K/1+5+0, #' *"+ 123.O./0-+ -/'*0/) $+0#+$, *"+ B/&) -(00+'*
-&' 6+ $+* $/ *"&* *"+ %/*/0 -&' 6+ 20/*+-*+, 6A '/* +E-++,#'B *"+ $+* %&E#%(% -(00+'* +5+' #' &' /5+0)/&,
$#*(&*#/'.
Recovery after overload shutdown
>#'-+ *"+ -/%%('#-&*#/' )#'+ #$ $*#)) .('-*#/'#'B &.*+0 $"(*,/1', #* -&' 6+ 0+$*/0+, */ *"+ #'#*#&) $*&*+ 6A “8+$*&0*”
-/%%&', /0 6A 0+-/''+-*#'B 2/1+0. <+ $(0+ */ 0+%/5+ *"+ -&($+ /. /5+0)/&, 6+./0+ 0+$*/0&*#/'.
Exception and Cautions
Caution 1) Q"+' *"+ $20#'B #$ #'$*&))+, 6+*1++' *"+ &22)#-&*#/' &', *"+ &-*(&*/0, /0 #* #$ #'$*&))+, #' C&E#$ (*"+
,#0+-*#/' /. B0&5#*A), #* %&@+$ +E*+0'&) ./0-+ */ *"+ &-*(&*/0. =',+0 *"+$+ -/',#*#/'$, *"+ $+05/ &-*(&*/0 /2+0&*+$
$)#B"*)A, 6(* -/'*#'(/($)A */ @++2 #*$ 2/$#*#/'. 7. *"#$ -/',#*#/' 2+0$#$*$, &-*(&*/0 %&A #'5/@+ :5+0)/&,
$"(*,/1' #' $/%+ -&$+$. !/ 20+5+'* *"#$, ($+ 4/0-+ :.. -/%%&', 1"#)+ +E*+0'&) 2/1+0 #$ &22)#+,.
Caution 2) M&-" *#%+ /5+0)/&, $"(*,/1' #$ +E+-(*+,, #* #$ '/* 6#B 6(* #* ,&%&B+$ *"+ %/*/0. !"+0+./0+, *"+ -&($+
/. /5+0)/&, %($* 6+ 0+%/5+, &.*+0 *"+ .#0$* /5+0)/&, $"(*,/1' $/ *"&* $"(*,/1' ,/+$ '/* /--(0 .0+G(+'*)A.
Important Note : Constant load / Overload Protection
Force Off Feature

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Overload Protection Function
=$#'B :5+0)/&, 20/*+-*#/' .('-*#/', 1+ -&' 20/*+-* %/*/0 ,&%&B+ .0/% /5+0)/&, -/',#*#/'.
:5+0)/&, 20/*+-*#/' .('-*#/' #$ 6+#'B &-*#5&*+, .0/% *"+ .&-*/0A. Q"+' #* #$ &-*#5&*+,, %/*/0 2/1+0 1#)) 6+ -(*
/..#' -&$+ /. /5+0)/&, -/',#*#/' */ 20/*+-* *"+ $+05/ &-*(&*/0
!"+ +&$#+$* 1&A */ $+*(&-*#5&*+/#'&-*#5&*+) :5+0)/&, 20/*+-*#/' .('-*#/' #$ */ -/''+-* $+05/ 1#*" >+05/ 9&'&B+0
>/.*1&0+ ($#'B 78-=><01 ?J =>< #'*+0.&-+. R/ */ ">"(*,/1' D)&0% >+**#'B” &', $#%2)A -)#-@(&-*#5&*+) ":5+0)/&,
M00/0".
D'/*"+0 %+*"/, */ $+* :5+0)/&, 20/*+-*#/' #$ */ ($+ &J/%%&', 2&-@+*. S/( -&' $+', ">*/0+ ,&*&" -/%%&', */
*"+ &,,0+$$(0T12) 1"#-" #$ *"+ &,,0+$$ ./0 D)&0% >"(*,/1'. >+* 6#* 5 ($++ 6+)/1) ./0 :5+0)/&, +00/0 .0/% */
"1"(:5+0)/&, &-*#5&*#/'), *"+' $+', ">*/0+ ,&*&" -/%%&', */ *"+ $+05/ %/*/0. >+05/ ./0-+ 1#)) 6+ -(* /.. (',+0
/5+0)/&, -/',#*#/' #. *"+ 6#* #$ $+* &* "1".(1= :5+0)/&, 20/*+-*#/' &-*#5&*#/' / 0=7'&-*#5&*#/')
!""#"
$%&
!"!#
7
!"!#
6
"$%&'()* #&&(&
5
!"!#
4
!"!#
3
!"!#
2
!"!#
1
+,-./ 0('/)1% #&&(&
0
Refer to below example for"Store Data" command.
Command Packet
HEADER
ID
Size
Command
Factor #1
Factor #2
Checksum
Address
Data
0E444444
0E00
0E04
0E43
0E12
0E20
0E;6
Caution
Use within Rated Load
For proper performance and better lifespan of mightZAP, it is strongly requested to use
it within the rated load range.

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1.5. Force Off
Force Off Function
! D.*+0 *"+ $+05/ &-*(&*/0 %/5+$ */ *"+ ,+$#B'&*+, 2/$#*#/', *"+ /2+0&*#/' $*/2$ (')+$$ *"+0+ #$ &' +E*+0'&)
./0-+ *"&* -&($+$ *"+ 2/$#*#/' 5&)(+ -"&'B+. 7. *"+ 2/$#*#/' 5&)(+ /. *"+ &-*(&*/0 #$ -/'*#'(/($)A -"&'B+, ,(+
*/ 5#60&*#/' /0 +E*+0'&) ./0-+, *"+ &-*(&*/0 #$ /2+0&*+, -/'*#'(/($)A 1#*"/(* 0+$* */ $*#-@ */ *"+ ,+$#B'&*+,
2/$#*#/' 5&)(+, 1"#-" &..+-*$ *"+ )#.+$2&' /. *"+ %/*/0.
! 7' *"#$ -&$+, #. *"+ 4/0-+ :.. .('-*#/' #$ 20/2+0)A (*#)#L+,, *"+ %/*/0 2/1+0 -&' 6+ 0+)+&$+, */ &))/1 *"+
%/*/0 */ 0+$* 1"#)+ %&#'*&#'#'B #*$ 2/$#*#/' 1#*" %+-"&'#-&) .0#-*#/' (9+-"&'#-&) >+). 3/-@ .('-*#/'). M5+'
1"+' #* #$ '+-+$$&0A */ @++2 *"+ 2/$#*#/' ./0 &0+)&*#5+)A )/'B *#%+ &.*+0 0+&-"#'B &-+0*&#' 2/$#*#/', $"(**#'B
/.. *"+ 2/1+0 /. *"+ %/*/0 ($#'B *"+ 4/0-+ /.. 2&0&%+*+0 &$ &' &,,+, $&.+*A .('-*#/' "+)2$ */ %&'&B+ *"+
)#.+$2&' /. *"+ %/*/0.
! =',+0 ./0-+ /.. -/',#*#/', -/%%('#-&*#/' #$ $*#)) &)#5+ 1"#)+ %/*/0 2/1+0 #$ /.., $/ $+05/ 1#)) %/5+ &B&#'
1"+' $+05/ B+*$ '+1 2/$#*#/' -/%%&', 1#*"/(* B#5#'B “4/0-+ :N” -/%%&',.
! 4/0-+ :.. .+&*(0+ -&' 6+ &5&#)&6)+ ./0 *"+ &-*(&*/0 "&5#'B “9+-"&'#-&) $+).-)/-@” .+&*(0+. ?)+&$+ $++ *"+ -"&0*
6+)/1 */ $++ &5&#)&6#)#*A. (<+)/1 -"&0* $"/1$ $+).-)/-@ ./0-+ /. 27%% $*0/@+ %#B"*ACD? /')A. 8+.+0 */ *"+
$+2&0&*+ $2+-#.#-&*#/' ./0 40/53/90%% $*0/@+ 5+0$#/'’$>+). )/-@ ./0-+.)
Rated Load Spec6
'()*+,%)+- .(-/-0#)1
10~20N
N:! D5&#)&6)+
27~100N
D5&#)&6)+
4/0 4/0-+ :.., $+', 0E00 &$ &">*/0+ ,&*&" -/%%&', */ *"+ &,,0+$$(0T80) 1"#-" #$ *"+ &,,0+$$ ./0 4/0-+ :N/:44.
(4/0 4/0-+ :N, $+', 0E01)
Refer to below example for "Store Data" command.
Command Packet
HEADER
ID
Size
Command
Factor #1
Factor #2
Checksum
Address
Data
0E444444
0E00
0E04
0E43
0E80
0E00
0E88
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. .
TIP

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2. Basic Information
2.1. Component
#3 93 '(* -&' 6+ ($+, */ .#E *"+ "#'B+ &', "#'B+ 6&$+. D)$/, 93 '(* $"/(), 6+ ($+, 6+*1++' 0/,-+', '(* &',
0/,-+', *#2 &$ &$*/22+0 &$ $"/1' /' *"+ 2#-*(0+.
2.2. Dimension
?)+&$+ 0+.+0 */ ,+*&#)+, ,#%+'$#/' .0/% 3;,0&1#'B &* /(0 1+6$#*+. (111.%#B"*AL&2.-/% →;#B#*&) D0-"#5+$
→12Lf Force control series→;0&1#'B)
[27mm Stroke Lineup]

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[40mm Stroke Lineup]
[53mm Stroke Lineup]
[90mm Stroke Lineup]

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2.3. Specification
12Lf Series Specifications
2+&(3
0#+3
.&"#1(
4#556,%)+&%#,
2+&(3 0#+3 /
'+7 .8((3(9#
0#+3)
.&+-- :#")( +&
46""(,&
(1.6;/ 8005; /
10005;)
'()*+,%)+-
.(-/ 0#)1
(<;7%= >=()
0(+3 .)"(? /
@(+" 2+&%# /
@(+" AB8(
2.-485
AA0/CD'
109
4022
1234-105-40
1234-1067-40
10!/ 11022/8
60!/ 40!/ 10!
!(
(6)9
)//%,/:(, /(
)--':;)/:(,)
3%)* <,1'% 20=
/ 10:1
/ #,1:,%%&:,1
6')8/:; >%)&8
5322
1234-105-53
1234-1067-53
9022
1234-105-90
1234-1067-90
129
2722
1234-125-27
1234-1267-27
12!/ 11022/8
100!/ 60!/ 8!
179
4022
1234-175-40
1234-1767-40
17!/ 8022/8
100!/ 60!/ 8!
3%)* <,1'% 15=
/ 10:1
/ #,1:,%%&:,1
6')8/:; >%)&8
5322
1234-175-53
1234-1767-53
9022
1234-175-90
1234-1767-90
209
2722
1234-205-27
1234-2067-27
20!/ 8022/8
120!/ 72!/
9.6!
279
4022
1234-275-40
1234-2767-40
27!/ 2822/8
160!/ 96!/
12.8!
?%8
(<--':;)@'%)
3%)* <,1'% 5=
/ 10:1
/ #,1:,%%&:,1
6')8/:; >%)&8
5322
1234-275-53
1234-2767-53
9022
1234-275-90
1234-2767-90
359
2722
1234-355-27
1234-3567-27
35!/ 2822/8
210!/ 126!/
16.8!
429
4022
1234-425-40
1234-4267-40
42!/ 1522/8
240!/ 144!/
19.2!
3%)* <,1'% 5=
/ 20:1
/ A%/)' >%)&
5322
1234-425-53
1234-4267-53
559
2722
1234-555-27
1234-5567-27
55!/ 1522/8
300!/ 180!/
24!
789
4022
1234-785-40
1234-7867-40
78!/ 7.722/8
420!/ 252!/
33.6!
3%)* <,1'% 5=
/ 50:1
/ A%/)' >%)&8
5322
1234-785-53
1234-7867-53
1009
2722
1234-1005-27
1234-10067-27
100!/ 7.722/8
600!/ 360!/
48!

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12Lf Series Common Specifications
Repeatability
Stroke
Unidirectional
27%% / 40%%
30U%(0.03%%)
53%%
40U%(0.04%%)
90%%
50U%(0.05%%)
Mechanical Backlash
0.03%%(30U%)
Rod Type
9+*&) D))/A 8/,
Motor Type
J/0+)+$$ 9/*/0
Rated Voltage
12H
Motor Watt
26Q
Recommended Duty Cycle
At Rated Load
At Max Applicable Load
9&E 50%
9&E 20%
Current Accuracy
V15%&* :5+0 50%D
Position Sensor
10WX)#'+&0 ?/*+'*#/%+*+0
Input Voltage Range
7 I13H
Current Consumption
Idle
Rated
Stall
Default
MAX
20%D
380%D
800%D
1.6D
Audible Noise
D220/E. 50,6 &* 1%
LED Indication
!1/ M00/0$ 7',#-&*#/'$ (7'2(* 5/)*&B+, :5+0)/&,)
Pulse Signal / Pulse Range
?Q9 (?! 5+0$#/', 8/JK/66A >#B'&))
900U$(8+*0&-*+,)-1500U$(J+'*+0)-2100U$ (ME*+',+,)
Data Communication / Protocol
8>-485 /0 !!3(?! 5+0$#/') /
78 8/6/* /2+' 20/*/-/) (;+.&()*YOZO9:;<=>O8!=O[>1#*-"&6)+YO
Ingress Protection
7?-54(;($* \Q&*+0 !#B"*)
Size / Weight
27mm
57.5(3)E29.9(Q)E15(K)%%/ 49I52B
40mm
86.9(3)E36(Q)E18(K)%%/ 96I99B
53mm
111.5(3)E36(Q)E18(K)%%/ 124I127B
90mm
151.5(3)E36(Q)E18(K)%%/ D220/E. 177B
Operating Temperature
-10℃I60℃
Wire Harness
!!3(?! 5+0$#/') : 9/)+E */ 9/)+E !A2+ (9/)+E 50-37-5033, 32#'$) /
200%%)+'B*", 0.08]60(22DQR)
/0 8>485(45+0$#/') : 9/)+E */ 9/)+E !A2+(9/)+E 0510650400, 42#'$) /
200%% )+'B*", 0.08]60(22DQR)
* ;+$#B' &', >2+-#.#-&*#/' -&' 6+ -"&'B+, 1#*"/(* 20#/0 '/*#-+ ./0 .(0*"+0 #%20/5+%+'*.

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3. Application
Factory Automation
• <+**+0 8+2)&-+%+'* /. ?'+(%&*#- JA)#',+0
• 8+&)-!#%+ D(*/%&*#- Q#,*" D,F($*%+'* J/'5+A+0
• 8+&)-!#%+ D(*/%&*#- ?0/,(-* D)#B'%+'* (=2/;/1' /0 3+.*/8#B"*)
• D(*/%&*#- H&)(+ J/'*0/) (/#) /0 1&*+0)
• D(*/%&*#- ;#$2+'$#'B 1#*" >A0#'B+
• D(*/%&*#- J)&%2#'B >A$*+%
• 4#**#'B /0 D,F($*#'B ;#$*&'-+
• ?#-@ \?)&-+
• 7' \/(* / ME*+'$#/' \0+*0&-*#/'
• :2+' \J)/$#'B (:'-:.. )
• J"&'B+ /. ;#0+-*#/'
K+E&2/,/!0#2/, %/5+%+'*
Production &Test JIGs
• K/)+ ?('-"#'B ^#B
• K/)+ 7'$2+-*#/' ^#B
• >1#*-" 7'$2+-*#/' ^#B
• !/(-" ?&'+) 7'$2+-*#/' ^#B
• ?J </&0, !+$*#'B ^#B
Robotics
• 8/6/* ^/#'*$
• 8/6/* R0#22+0$
• 3#'+&0 J/'*0/) ?&0*$ /. >(0B#-&) 8/6/*
UAV / Professional Drone
• 4#E+, 1#'B (D#)+0/'/M)+5&*/0/!"0/**)+/4)&2/D#0 <0&@+/ 8(,,+0/
!"0/**)+)
• K+)#-/2*+0 (>1&$" ?)&*+ J/'*0/)/8(,,+0)
• 9()*#-/2*+0 (8+*0&-*, ;0/22#'B ;+5#-+)
• 3#'+&0 -/'*0/) 2&0*$ ./0 9#)#*&0A 20/,(-*$
• ?&'/!#)* J&%+0& -/'*0/)
Medical / Lab Equipment
• 3#'+&0 2/$#*#/' -/'*0/) ./0 9+,#-&) ;+5#-+$ (K74=, +*-)
• J&%+0& /0 3&$+0 4/-($#'B J/'*0/)
• 3&6/0&*/0A !+$* MG(#2%+'*
Education / Hobby
• 3;?0#'*+0
• D0,(#'/ /0 8&2$6+00A ?#+ J/'*0/)
• 9&@+0'$;7S ?0/F+-*

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4. Servo Control
4.1. Circuit Connection
%#B"*ACD?(123.-EEPT-EE) $(22/0*$ 6/*" ,&*& -/%%('#-&*#/' (K&). ;(2)(E !!3) &$ 1+)) &$ $#%2)+ 2()$+(?Q9)
-/'*0/). 4/0 *"+ -/'*0/) (',+0 ,&*& -/%%('#-&*#/', =D8! $#B'&) /. %&#' 6/&0, $"/(), 6+ -/'5+0*+, #'*/ K&).
;(2)+E !A2+ $#B'&). !!3 J/'5+0$#/' -#0-(#* 1#)) 6+ &$ 6+)/1.
n TTL/PWM(3Pin Connector-Model 12Lfxx-xxPT-xx Series)
The direction of data signal for TxD and RxD of TTL level will be determined according to the level
of direction_port as below.
§ !"+ )+5+) /. ",#0+-*#/'_2/0*" #$ 3:Q :;&*& $#B'&) 1#)) 6+ #'2(**+, */ 8E;.
§ !"+ )+5+) /. ",#0+-*#/'_2/0*" #$ K7RK :!E; $#B'&) 1#)) 6+ /(*2(**+, &$ ;&*&.
※ Both GNDs between actuator and controller should be connected as above diagram.
n
74LVC2G241
12H
J/%%('#-&*#/' 5/)*&B+ 3I5H
※
For PWM control, please connect PWM signal(3~5V) to the Data pin above. (GND,VDD are same
as above)
※In case of using PWM communication, position control is possible, but feedback data such as the
current position value cannot be received, and serial daisy chain connection is not supported
since data communication is not supported.
※Feedback data reception and Daisy chain connection are possible by TTL or RS
-485
communication.
E+&+ ( )
FEE (2(3)
@9E (G-+)1)

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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.
※If the power is supplied from outside, you can connect to 485 D+, 485 D- only.
You can convert TX and RX mode by controlling “Direction_Port pin” in above circuit.
§ !"+ )+5+) /. ",#0+-*#/'_2/0*" #$ 3:Q : ;&*& $#B'&) 1#)) 6+ #'2(**+, */ 8E;.
§ !"+ )+5+) /. ",#0+-*#/'_2/0*" #$ K7RK : !E; $#B'&) 1#)) 6+ /(*2(**+, &$ ;&*&
※
Both GNDs between actuator and controller should be connected as above diagram.
PIN NUMBER(COLOR)
PIN NAME
FUNCTION(RS485)
1(Yellow)
D-
RS485 –
2(White)
D+
RS485 +
3(Red)
VCC
Power +
4(Black)
GND
Power -
D-
D+
Communication voltage 5V
12V
D- ( )
D+ ( )
VCC (Red)
GND (Black)

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4.2. Communication
%#B"*ACD? &', A/(0 %&#' -/'*0/))+0 1#)) -/%%('#-&*+ 6A +E-"&'B#'B ,&*& 2&-@+*. !"+ $/0*$ /. 2&-@+* &0+
J/%%&', 2&-@+* (9&#' -/'*0/))+0 */ %#B"*ACD?) &', 4++,6&-@ 2&-@+*(%#B"*CD? */ A/(0 %&#' -/'*0/))+0)
1. Specification
① Communication specification
§ 2 Mode in One (?()$+ / ;&*& 9/,+ D(*/->1#*-"#'B)
%#B"*ACD? 123.`EE?!`EEO$+0#+$O1#)) &(*/%&*#-&))A 0+-/B'#L+ *"+ #'2(* $#B'&) 6+*1++' ,&*&
%/,+(!!3Y &', 2()$+ %/,+(?Q9Y.
§ Data Mode (TTL/RS-485)
D$A'-"0/'/($ >+0#&) -/%%('#-&*#/' (8 6#*, 1 >*/2 6#*, N/'+ ?&0#*A)
Item
Spec
Structure
K&).-,(2)+E =D8!
Baud Rate
5760062$(,+.&()*)
Data Size
86#*
Parity
'/'-2&0#*A
Stop Bit
:'+ 6#*
! mightyZAP uses half duplex communication , and need to put proper delay time to prevent
communication error .
! Recommendable delay time is 5 msec for data write , 10 msec for data read .
! Otherwise , there can be communication collision and motor failure .
! Above delay time is not minimum , but proper delay time for safety .
§ PWM Pulse Mode
??9(?()$+ ?/$#*#/' 9/,()&*#/') J/%2&*#6)+ [ 8&,#/-J/'*0/) >+05/ ?()$+ 9/,+]
(900($(8+*0&-*+,)I1500 ($(J+'*+0)I2100 ($(4())A ME*+',+,). =',+0 ?Q9 %/,+, 2/$#*#/'
-/%%&', &5&#)&6)+ 1#*"/(* .++,6&-@ ,&*&.
※>"/0* $*0/@+ : 8+*0&-* $*0/@+ / 3/'B $*0/@+ : ME*+', $*0/@+
BC(&/ B/&(D%
(900.8)
3(,1 B/&(D%
(2100.8)
6%&:(*
(828E2328)
2028 &%;(22%,*%*
B/)&/ 6(:,/
(0.8)
FeedbackPacket
MainController
CommandPacket
CAUTION!
※ >#'-+ ?Q9 -/'*0/) #$ 5()'+0&6)+ */ '/#$+, #* #$ "#B")AO 0+-/%%+',+,O */O -/'*0/) 1#*" &$&*(0&*#/'-*A2+
?Q9O $#B'&) (-/'*#'(/($O ?Q9YO 0&*"+0O *"&'O &$#'B)+ ?Q9 $#B'&), $/ *"&* #* ,/+$ '/* 60+&@ &* &$2+-#.#-
.0+G(+'-A. 8+-/%%+',+, .0+G(+'-A #$ 50KL(20%$).
※ 7' -&$+ /. ($#'B ?Q9 -/%%('#-&*#/', 2/$#*#/' -/'*0/) #$ 2/$$#6)+, 6(* .++,6&-@ ,&*& $(-" &$ *"+
20+$+'* 2/$#*#/' 5&)(+ -&''/* 6+ 0+-+#5+,, &', $+0#&) ,&#$A -"&#' -/''+-*#/' #$ '/* $(22/0*+, $#'-+ ,&*&
-/%%('#-&*#/' #$ '/* $(22/0*+,.4++,6&-@ ,&*& 0+-+2*#/' &', ;&#$A -"&#' -/''+-*#/' &0+ 2/$$#6)+ 6A
!!3 /0 8>-485 -/%%('#-&*#/'.
※ D)*+0'&*#5+)A, ?Q9 -/'*0/) #$ 2/$$#6)+ #' *"+ ./))/1#'B 1&A.
40+G(+'-A 50KL / ;(*A 0&*+ 4.5% I10.5%. (J/'*0/) 6A 0.05% ('#*)

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② Data specification
Data range is basically determined as below in both Data and Pulse modes.
③ Daisy-Chain Connection
After receiving Command Packet at multiple qty of mightZAPs, the servo whose ID is Nwill
be operated only. (Only NID servo will send Feedback packet and execute Command.)
Rod Stroke
Data Mode
Pulse Mode
Short (Retracting) Stroke
0
900($
Half Stroke
2047
1500($
Long (Extending) Stroke **
4095**
2100($
Caution
Unique ID
M&-" %#B"*CD? $+05/ %($* "&5+ &' #',#5#,(&) 7; */ 20+5+'* #'*+0.+0+'-+ 6+*1++'
$&%+ 7;$. !"+0+./0+, A/( '++, */ $+* #',#5#,(&) 7;$ ./0 +&-" $+05/ #' *"+ '+*1/0@
'/,+.
=$+0 %&A &$$#B' 253 ,#..+0+'* 7;$ &', -/''+-* 2532-$ $+05/$ #' $+0#&) 5#& !!3
20/*/-/). 4/0 8>-485 20/*/-/), 253 7;$ -&' 6+ &$$#B'+,, 6(* &5&#)&6)+ $+0#&) -/''+-*#/'
#$ (2 */ 322-$ $+05/ %/*/0$ ,(+ */ 8>-485 '/,+ 0+B()&*#/'.
D$ .&-*/0A ,+.&()* 7; #$ 0, $/ 2)+&$+ &$$#B' ,#..+0+'*, #',#5#,(&) 7;$ ./0 +&-" &-*(&*/0
.0/% 7;0I253 ./0 ,&#$A -"&#' -/''+-*#/'.
ID=1
ID=
ID=0
Feedback C+)1(&(ID=N)
4#55+,3
C+)1(&(HE=9)
MainController
**:#" 2755 =&"#1( 5%I*&B;C, -#,I =&"#1( -%5%& %= =(& +& 2755, $6& 6=(" %= +$-( &# (7&(,3 &*(
-#,I =&"#1( &# 5+7.3055. E+&+ J+-6( /#" 2755 =&"#1( %= 3686. (/#" $(&&(" 5()*+,%)+- =&+$%-%&B
+I+%,=& -+&("+- -#+3, 2755 %= "()#55(,3(3.)
ID=N

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2. Packet Description
① Command Packet
7* #$ -/%%&', 2&-@+*$ ./0 $+05/ /2+0&*#/'. 7*$ $*0(-*(0+ &', +)+%+'*$ &0+ &$ 6+)/1.
n Structure
n Element
Index
Data
Description
0
Start Byte 1
>*&0* <A*+ 1 (0E44)
1
Start Byte 2
>*&0* <A*+ 2 (0E44)
2
Start Byte 3
>*&0* <A*+ 3 (0E44)
3
ID
>+05/ 7; (8&'B+: 0 I253, <0/&,-&$* 7;: 254)
4
SIZE
?&-@+* >#L+ (J:99DN;+4DJ!:8+JKMJW>=9)
5
COMMAND
7'$*0(-*#/'
5+1
FACTOR #1
4#0$* ?&0&%+*+0
5+m
FACTOR #m
"%"*" ?&0&%+*+0
5+N
FACTOR #N
3&$* ?&0&%+*+0
5+N+1
Check Sum
J"+-@ >(% = 0xff `( 3:QM8_<S!M( 7; + >7CM + J:99DN; +
4DJ!:8#1 + … + 4DJ!:8#N) )
n Element Description
1. HEADER (3Byte)
Code to recognize Packet start : 0E444444
2. ID (1Byte)
!"+ 7; #$ &' ('#G(+ '(%6+0 /. +&-" $+05/ */ $(22/0* ;&#$A J"&#' -/''+-*#/'.
4&-*/0A ,+.&()* 5&)(+(7;) #$ 0.
7' -&$+ /. 7; = 0 I253, 7; "N" 1"#-" #$ $*/0+, #' *"+ $+05/ 1#)) 6+ /2+0&*+,.
7' -&$+ /. 7; = 254 (0E4M), #* #$ /2+0&*+, (',+0 "<0/&,-&$*#'B 9/,+ (%/5+ &)) $+05/$)" &',
4++,6&-@ ?&-@+* ,/+$ '/* 1/0@.
3. SIZE (1Byte)
?&-@+* )+'B*" #' <A*+ ('#*
;&*& -/('*#'B 5&)(+ &.*+0 ">#L+" ,&*& (J:99DN;+4DJ!:8+JKMJW>=9)
!"&* #$, >#L+ 5&)(+ = N(%6+0 /. 6A*+ /. "4&-*/0" + 2
Start Byte 1
(0xFF)
Start Byte 2
(0xFF)
StartByte3
(0xFF) ID SIZE
(0~255)
COMMAND
(0~255)
FACTOR
#1
FACTOR
#m
FACTOR
#N CHECKSUM

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4. COMMAND (1Byte)
J/%%&', -/,+$ ,+.#'#'B *"+ 2(02/$+ /. ?&-@+*
5. F
A
C
TOR
Additional Packet factor according to Command
6. CHECKSUM
Verification data to check omission and any changes of Packet data. The interaction
formula will be as below.
J"+-@$(% = 0E.. F( 3:QM8_<S!M( 7; + >7CM + J:99DN; + 4DJ!:8#1 + … + 4DJ!:8#N) )
3:QM8_<S!M = :')A *"+ )/1+0 1 6A*+ #$ *&@+' &%/'B *"+ $(%%+, ,&*& 5&)(+$.
= ;#5#,+ *"+ $(%%+, ,&*& 5&)(+ 6A 0E100 &', *&@+ /')A *"+ 0+%&#',+0.
K+0+ #$ *"+ ./0%()& ./0 &6/5+.
3:QM8_<S!M( 7; + >7CM + J:99DN; + 4DJ!:8#1 + ... + 4DJ!:8#N) == ( 7; + >7CM +
J:99DN; + 4DJ!:8#1 + ... + 4DJ!:8#N) % 0E100
② Feedback Packet
D.*+0 0+-+2*#/' /. -/%%&', 2&-@+*, $+05/ $+',$ 4++,6&-@ 2&-@+* #'-)(,#'B 0+G(+$*+,
#'./0%&*#/'. 7*$ $*0(-*(0+ &', .&-*/0$ &0+ &$ 6+)/1.
n Structure
n Element
Index
Data
Description
0
Start Byte 1
>*&0* <A*+ 1 (0E44)
1
Start Byte 2
>*&0* <A*+ 2 (0E44)
2
Start Byte 3
>*&0* <A*+ 3 (0E44)
3
ID
>+05/ 7; (8&'B+: 0 I253, <0/&,-&$* 7;: 254)
4
SIZE
?&-@+* >#L+ (J:99DN;+4DJ!:8+JKMJW>=9)
5
ERROR
M00/0 J/,+
5+1
FACTOR #1
4#0$* ?&0&%+*+0
5+m
FACTOR #m
"%"*" ?&0&%+*+0
5+N
FACTOR #N
3&$* ?&0&%+*+0
5+N+1
Check Sum
J"+-@ >(% = 0E.. F( 3:QM8_<S!M( 7; + >7CM + M88:8 +
4DJ!:8#1 + … + 4DJ!:8#N) )
Start Byte 1
(0xFF)
Start Byte 2
(0xFF)
Start Byte 3
(0xFF)
ID
SIZE
(0 ~ 255)
ERROR FACTOR
#1
FACTOR
#m
FACTOR
#N CHECKSUM
Function
CODE
Description
Echo
0E41
4++,6&-@ ?&-@+* 8+-+2*#/'
Load Data
0E42
>+', "D,,0+$$" &', B+* .++,6&-@ /. ;&*&
Store Data
0E43
>+', "D,,0+$$" &', ";&*&". !"+' >&5+.
Send Data
0E44
>+', "D,,0+$$" &', ";&*&" ./0 *+%2/0&0A $*/0&B+
Execution
0E45
ME+-(*+ *+%2/0&0#)A $*/0+, ,&*& *"&* #$ %&,+ 6A
>+',;&*&.
Factory Reset
0E46
8+$+* */ 4&-*/0A ,+.&()* 2&0&%+*+0 5&)(+
Restart
0E48
8+$*&0* $+05/ $A$*+%
Symmetric
Store
0E73
>*/0+ ,&*& #' *"+ $&%+ &,,0+$$ /. %()*#2)+ G*A $+05/$.

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
19

n Element Description
1. HEADER (3Byte)
8+-/B'#L#'B "?&-@+* $*&0*" -/,+. 0E444444
2. ID (1Byte)
Individual ID number for each servo (0 I253)
3. SIZE (1Byte)
?&-@+* )+'B*" #' <A*+ ('#*
;&*& -/('*#'B 5&)(+ &.*+0 ">#L+" ,&*& (M88:8+4DJ!:8+JKMJW>=9)
!"&* #$, >#L+ value = Number of byte of "Factor" + 2
4. Hardware ERROR (1Byte)
Error status during operation for each bit
Error
bit
Description
LED
9#,(
7
!<;
!(,%
9#,(
6
!<;
!(,%
Overload Error
5
7' -&$+ *"&* -(00+'* )/&, -&''/* 6+ -/'*0/))+, 1#*" *"+
,+$#B'&*+, %&E#%(% ./0-+, #* 1#)) 6+ $+* &$ "1".
8+,
<)#'@
9#,(
4
!<;
!(,%
9#,(
3
!<;
!(,%
9#,(
1
!<;
!(,%
Input Voltage
Error
0
7' -&$+ *"&* *"+ #'2(* 5/)*&B+ #$ /(* /. /2+0&*#'B 5/)*&B+
0&'B+ ,+$#B'&*+, #' *"+ J/'*0/) *&6)+, #* 1#)) 6+ $+* &$ "1".
8+, :'
5. FACTOR
Additional Packet factor according to Feedback data.
6. CHECKSUM
H+0#.#-&*#/' ,&*& */ -"+-@ /%#$$#/' &', &'A -"&'B+$ /. ?&-@+* ,&*&. !"+ #'*+0&-*#/' ./0%()& 1#))
6+ &$ 6+)/1.
J"+-@$(% = 0E.. - ( 3:QM8_<S!M( 7; + >7CM + M88:8 + 4DJ!:8#1 + … + 4DJ!:8#N) )
3:QM8_<S!M = :')A *"+ )/1+0 1 6A*+ #$ *&@+' &%/'B *"+ $(%%+, ,&*& 5&)(+$.
= ;#5#,+ *"+ $(%%+, ,&*& 5&)(+ 6A 0E100 &', *&@+ /')A *"+ 0+%&#',+0.
K+0+ #$ *"+ ./0%()& ./0 &6/5+.
3:QM8_<S!M( 7; + >7CM + M88:8+ 4DJ!:8#1 + … + 4DJ!:8#N) == ( 7; + >7CM + M88:8+
4DJ!:8#1 + … + 4DJ!:8#N) % 0E100

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
20

3. Data Map
① Data Memory Map
n Memory using data (Non-volatile)
;&*& */ 6+ $&5+, #' '/'-5/)&*#)+ %+%/0A 1"#-" %&#'*&#'$,&*& +5+' &.*+0 2/1+0 :44/:N.
D)) ,&*& 1#)) 6+ 0+$+* */ ,+.&()* 5&)(+ 1"+' 4&-*/0A 8+$+* -/%%&', #$ +E+-(*+,.
;33"(==
9+5(
E(=)"%8&%#,
;))(==
E(/+6-&
0 (0G00)
A(*%' !.2@%&(3)
3(H%& @9/% (4 A(*%'
,.2@%&
I
1 (0G01)
A(*%' !.2@%&(J)
J:1C @9/% (4 A(*%'
,.2@%&
I
2 (0G02)
0%&8:(, (4 5:&2H)&%
5:&2H)&% $%&8:(, :,4(
I
-
3 (0G03)
+K
B%&$( +K
IL
0 (0G00)
4 (0G04)
M).* I)/%
N(22.,:;)/:(, B-%%*
IL
32 (0G20)
6 (0G06)
BC(&/ B/&(D% 3:2:/(3)
3(H%& @9/% (4 BC(&/
B/&(D% 3:2:/
IL
0 (0G00)
7 (0G07)
BC(&/ B/&(D% 3:2:/(J)
J:1C @9/% (4 BC(&/
B/&(D% 3:2:/
IL
0 (0G00)
8 (0G08)
3(,1 B/&(D% 3:2:/(3)
3(H%& @9/% (4 3(,1
B/&(D% 3:2:/
IL
102 (0G66)
9 (0G09)
3(,1 B/&(D% 3:2:/(J)
J:1C @9/% (4 3(,1
B/&(D% 3:2:/
IL
14 (0G0#)
10 (00G0<)
6&(/(;(' 79-%
N(22. 6&(/(;('
(A"KMOB I7O (&
+I "-%,)
IL
0G01
(IRPROTOCOL)
12 (0G0N)
/C% 3(H%8/ 3:2:/ 0('/)1%
3(H%8/ 0('/)1% 3:2:/
I
#);C B6#N
13 (0G0K)
/C% J:1C%8/ 3:2:/ 0('/)1%
J:1C%8/ 3:2:/ 0('/)1%
I
#);C B6#N
14 (0G0#)
A(/(& "-%&)/:,1 I)/%(3)
3(H%& @9/% (4 A(/(&
"-%&)/:,1 I)/%
IL
255 (0G55)
15 (0G05)
A(/(& "-%&)/:,1 I)/% (J)
J:1C @9/% (4 A(/(&
"-%&)/:,1 I)/%
IL
3 (0G03)
16 (0G10)
5%%*@);D I%/.&, A(*%
5%%*@);D I%/.&, A(*%
IL
1 (0G01)
17 (0G11)
<')&2 3#K
<')&2 3#K 5.,;/:(,
IL
33 (0G21)
18 (0G12)
<')&2 BC./*(H,
<')&2 BC./*(H,
5.,;/:(,
IL
33(0G21)
19 (0G13)
B/)&/ N(2-':),;% A)&1:,
B/)&/ N(2-':),;%
A)&1:,
IL
#);C B6#N
20 (0G14)
#,* N(2-':),;% A)&1:,
#,* N(2-':),;% A)&1:,
IL
#);C B6#N
21 (0G15)
B-%%* 3:2:/(3)
3(H%& @9/% (4 )$%&)1%
2(/(& 8-%%* ':2:/
IL
255(0G55)
22 (0G16)
B-%%* 3:2:/(J)
J:1C @9/% (4 )$%&)1%
2(/(& 8-%%* ':2:/
IL
3(0G03)
24 (0G18)
N)':@&)/:(, BC(&/ B/&(D%
(3)
3(H%& @9/% (4
N)':@&)/:(, BC(&/ B/&(D%
I
0 (0G00)
25 (0G19)
N)':@&)/:(, BC(&/ B/&(D%
(J)
J:1C @9/% (4 N)':@&)/:(,
BC(&/ B/&(D%
I
0 (0G00)
26 (0G1<)
N)':@&)/:(, 3(,1 B/&(D%
(3)
3(H%& @9/% (4
N)':@&)/:(, 3(,1 B/&(D%
I
255 (0G55)
27 (0G1M)
N)':@&)/:(, 3(,1 B/&(D%
(J)
J:1C @9/% (4 N)':@&)/:(,
3(,1 B/&(D%
I
15 (0G05)
33 (0G21)
<;;%'%&)/:(, I)/:(
A($:,1 <;;%'%&)/:(,
I)/:(
IL
#);C B6#N
34 (0G22)
K%;%'%&)/:(, I)/:(
A($:,1 K%;%'%&)/:(,
I)/:(
IL
#);C B6#N
35 (0G23)
N.&&%,/ +>):,
N.&&%,/ +,/%1&)' >):,
IL
#);C B6#N
36 (0G24)
N.&&%,/ 6>):,
N.&&%,/ 6&(-(&/:(,)'
IL
#);C B6#N