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

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
8

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]

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
9

[40mm Stroke Lineup]
[53mm Stroke Lineup]
[90mm Stroke Lineup]

ForceControl_IRProtocol_mightyZAPUSERMANUALV.3.3
10

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!