IR Robot mightyZAP User manual

mightyZAP User Manual
(12Lf#Force Control Lineup / MODBUS Protocol)
Robust Mini Linear Servo Actuator ------
!!"#$ %&'(&) #$ *"+ ,+,#-&*+, %&'(&) ./0 12Lf# FORCE control version actuator 1"#-" $(22/0*
./0-+/$2++, -/'*0/) &$ 1+)) &$ 2/$#*#/' -/'*0/).
!345678 9!7 :0/*/-/) #$ &;&#)&<)+ ./0 =/0-+ -/'*0/) )#'+(2 (98-485 &', !!>) /')?.
!!"#$ %&'(&) #$ ./0 *"+ 345678 20/*/-/) ($+0$ /. *"+ =/0-+ -/'*0/) )#'+(2 &-*(&*/0$ 1"/ "&;+
*"+ %/,+) '(%<+0 1"#-" $*&0*$ 1#*" “12>.”.
!=/0 *"+ ($+0$ 1"/ '++,$ @9 9/</* /1' 20/*/-/) 1#*" *"+ =/0-+ -/'*0/) &-*(&*/0$, 2)+&$+ 0+.+0 */
*"+ $+2&0&*+ “=/0-+ -/'*0/)/@9 :0/*/-/)” &-*(&*/0 %&'(&).
!=/0 *"+ ($+0$ 1"/ "&;+ *"+ &-*(&*/0 1"#-" $*&0*$ 1#*" 5/0 >, 2)+&$+ &)$/ 0+.+0 */ *"+ $+2&0&*+
“:/$#*#/' -/'*0/)” &-*(&*/0 %&'(&).
Check your product group!
Does your model number start with 12Lf-?

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
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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 Constant Load / Overload Protection ...........................................................5
1.5 Force Off Function .............................................................................................7
2. Basic Information ................................................................ 8
2.1 Component ..........................................................................................................8
2.2 Dimension ...........................................................................................................8
2.3 Specification .....................................................................................................10
3. Applications......................................................................... 12
4. Servo Control....................................................................... 13
4.1 Circuit Connection...........................................................................................13
4.2 Communication ................................................................................................14
4.2.1 Specification ............................................................................................................................................... 14
4.2.2 Packet Description................................................................................................................................... 16
4.2.3 Data Map...................................................................................................................................................... 18
4.2.4 Data Description....................................................................................................................................... 19
4.2.5 Command Example Packet................................................................................................................... 26
5. Optional Accessories ......................................................... 27
6. Warranty .............................................................................. 29

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
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1. Before Use
1.1 Introduction
!"&'A ?/( ./0 2(0-"&$#'B %#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$! :)+&$+ 2+0($+ *"#$ %&'(&) <+./0+ ($+ */
20+;+'* &'? ('+E2+-*+, ,&%&B+ /. 20/,(-* /0 $+0#/($ #'F(0? /. ($+0$.
%#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$ "&;+ <++' ,+;+)/2+, */ 20/;#,+ 0+)#&<)+, "#B" G(&)#*? )#'+&0 $/)(*#/'
#' -/%2&-* $2&-+. %#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$ -&' <+ &22)#+, #' ;&0#/($ .#+),$ $(-" &$ .&-*/0?
&(*/%&*#/', %+,#-&) ,+;#-+$, 0/</*#-$, 20/.+$$#/'&) 7DH &',0&,#/ -/'*0/) "/<<?.
[Features]
§ Position Control (7'#I,#0+-*#/'&)J:/$#*#/'&) D--(0&-? 30K60(% – $++ $2+- -"&0* /. +&-" %/,+))
§ Stall#Force Control <&$+, /' L(00+'* .++,<&-A
§ Speed Control <? 1024 9+$/)(*#/'
§ M%<+,,+, 50#;+ -#0-(#*
§ 4096 8*+2 N#B" 9+$/)(*#/'
§ N#B" :+0./0%&'-+ L/0+)+$$ 3/*/0
§ 3#'#%#O+, 3+-"&'#-&) 6&-A)&$" (30(%)
§ ME-+))+'* 8(<$*#*(*+ ./0 2'+(%&*#- -?)#',+0 1"#-" ,/+$ '/* $(22/0* 2/$#*#/' -/'*0/)
§ 9+&$/'&<)+ L/$*
1.2 For Safety
:)+&$+ 2+0($+ $&.+*? #'$*0(-*#/' <+)/1 */ ($+ %#B"*?CD: $&.+)?. :)+&$+ A#',)? '/*+ *"&* &<($+ %&? #';&)#,&*+
?/(0 1&00&'*?.
1. Do NOT press the Rod when the servo is being operated.3/*/0 %&? <+ ,&%&B+,(<(0'*) #. "#B"+0
./0-+ *"&' 0&*+, ./0-+ #$ &22)#+, -/'$#$*+'*)?.
2. Apply proper input voltage ($#'B 2/1+0 $(22)? /0 -/00+-* <&**+0?. =/0 #'$*&'-+, 7.0K12H./0 12H#'2(*
20/,(-*(12>. $+0#+$). !"+ %/*/0 %&? <+ <(0'* 1"+' "#B"+0 ;/)*&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. !"# $%&'(%)*,#('*+ ,"#)* ", 12-,-20./-27 $& 200((11#"2. 234). /5(' $&, 6$,*&1(% ", 12-,-
20./-27 )(% 7* 8(2$8$9*+ :5*% $' $& ;&*+ 6*&& '5(% 200,"#)* )"%+$'$"%. /5* 6":*# 6"(+ )"81(#$%4 '" #('*+
,"#)*, '5* 6"%4*# 6$,*&1(% ", '5* 8"'"#.
2) Use under 50% of Duty Cycle : <, => 8"'"# "1*#('*& )"%'$%;";&6? :$'5";' (%? $%'*#@(6 (#*&'), 8"'"# :$66 7*
"@*#6"(+*+ (%+ "@*#6"(+ 1#"'*)'$"% ,*(';#* :$66 );' ",, '5* 1":*# ", &*#@" 8"'"#. /5*#*,"#*, ;&*# &5";6+
)"%&$+*# “=;'? )?)6*” :5$)5 8*(%& '5* 1*#)*%'(4* ", "1*#('$%4 '$8* (4($%&' $%'*#@(6 '$8*. <% "'5*# :"#+&, 50%
+;'? )?)6* 8*(%& '5(' 8"'"# &5";6+ #*&' 50% ", '$8* :5*% 8"'"# "1*#('* +;#$%4 50% ", '$8* '" 8(%(4*
8"'"# 6$,*&1(% 8"#* *,,$)$*%'6?. A&* ;%+*# 50% ", +;'? )?)6* ,"# "1'$8$9*+ 6$,*&1(%. /5* 6*&& +;'? )?)6*, '5*
6"%4*# 6$,*&1(%.
3) "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo motor.
B":*@*#, '5$& ,*(';#* )(% 7* ;&*+ :5*% '5*#* $& %" 1#"76*8 $% ?";# &?&'*8 *@*% $, #"+ 1"&$'$"% $& )5(%4*+
+;* '" *2'*#%(6 ,"#)* 7*)(;&* ","#)* ",," 8(3*& &*#@" ,"#)* $& #*6*(&*+.
4. Proper wiring: !"+0+ #$ )#**)+ -"&'-+ /. #'-/00+-* 1#0#'B 1"+' ($#'B 1#0+ "&0'+$$ 1#*" -/''+-*/0
20/;#,+, <? /(0 .&-*/0?. N/1+;+0, #. ($+0$ ($+ $/),+0#'B /0 &*"#0,-2&0*? -/''+-*/0 &--/0,#'B */ ($+0’$
,+$#0+, 2)+&$+ 2&? &**+'*#/' */ %#$-1#0#'B <+*1++' *"+ -/%%('#-&*#/' &', 2/1+0 )#'+$. @'-/00+-*
1#0#'B 0+$()*$ #' .&*&) ,&%&B+ */ *"+ :L </&0, /0 -+0*&#' +)+-*0#-&) -/%2/'+'*$. :)+&$+ 0+.+0 */ *"+

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
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1#0#'B 2#' %&2 /' 4.1 L#0-(#*J-/''+-*#/'J2&B+ /.J*"+J($+0J%&'(&)J*/ 20+;+'* #'-/00+-* 1#0#'B.
5. Position command within mechanical limit : !"+0+ $"/(), <+ %+-"&'#-&) )#%#* 1"#-" $+0;/ 0/, -&'
%/;+ 1"+' ($+0 #'$*&)) $+0;/ %/*/0 #' *"+#0 &22)#-&*#/'. 3&A+ $(0+ *"&* 2/$#*#/'&) -/%%&', $"/(), <+
%&,+ 1#*"#' ($+0’$%+-"&'#-&) )#%#*. @* #$ *// -/%%/' */ %+'*#/', <(* 1+ -/(), $++ *"#$ %#$*&A+ .0/%
*#%+ */ *#%+. @. 2/$#*#/'&) -/%%&', #$ /(* /. %+-"&'#-&) )#%#*, $+0;/ 1#)) <+ /;+0)/&,+, &* -+0*&#' 2/#'*
/. *#%+ &', 2/1+0 1#)) <+ -(* /.. */ 20/*+-* *"+ $+0;/ ,(+ */ /;+0)/&, 20/*+-*#/' .+&*(0+. (#. /;+0)/&,
20/*+-*#/' #$ #'&-*#;&*+, <? ($+0, %/*/0 1#)) <+ '/* <+ 20/*+-*+,.) L/'$#,+0#'B 20+-#$+ 2/$#*#/' -/'*0/),
%&A+ $(0+ */ 0+--"+-A *"#$ %&**+0 1"+' $+0;/ #$ &22)#+,.
6. It is strictly banned to use multiple qty actuators for single
objective.5(+ */ 5L %/*/0 -"&0&-*+0#$*#-, +&-" &-*(&*/0’$$2++, -&' <+
$)#B"*)? ;&0#+, +;+' #. *"+? &0+ $&%+ %/,+) &', B/&) 2/$#*#/' #$ $&%+.
(%&? -&($+ /;+0)/&, */ /'+ /. &-*(&*/0)
7. Do not TWIST the rod with excessive force when tightening the rod
end tip.
@. ?/( &22)? +E-+$$#;+ *1#$*#'B ./0-+ */ *"+ 0/, 1"+' *#B"*+'#'B *"+ 0/,
&', *#2 (1"#)+ *"+ </,? #$ .#E+,), #* %&? -&($+ ,&%&B+ */ #'*+0'&) 2&0*
(M'B#'++0#'B :)&$*#- 0/,-
#'$+0*). =/))/1 <+)/1
#'$*0(-*#/' */ &;/#,
,&%&B+.
1) =#E *"+ 9/,-+', 1#*" *"+
#'-)(,+, 33 $2&''+0 (
⑤
).
!"#$ #$ */ 20+;+'* *"+ 0/, (
①
) .0/% *(0'#'B <&,)? &',
,&%&B+ 1"#)+ *#B"*+'#'B *"+ 33 '(* (
②
).
2) D--/0,#'B */ 20+.+0+'-+, #'$*&)) *"+ $/-A+* $+* $-0+1 (
③
) /0 0/, +', *#2 (
④
) */ *"+ 20/2+0
2/$#*#/'#'B <+./0+ "&0, *#B"*+'#'B.
3) D,F($* *"+ &'B)+ /. *"+ 0/, +', *#2 (
④
) */ *"+ ,+$#0+, &'B)+. 6? ($#'B &)/'B '/$+ 2)#+0(/0 +E*0&
33 $2&''+0), .#E *"+ 2/$#*#/' <? *#B"*+'#'B *"+ 33 '(* (
②
) 1"#)+ 0/, +', #$ .#E+, 1#*" 33
$2&''+0($++ <+)/1 #%&B+.). !"#$ #$ “,/(<)+ '(*$” -/'-+2* 1"#-" .#E+$ %+-"&'#-&) 2/$#*#/' <?
.0#-*#/'.
8. Use properly "Overload protection" feature to protect the servo and your system from damage.
4;+0)/&, 20/*+-*#/' .+&*(0+ #$ &-*#;&*+, .0/% *"+ .&-*/0?, &', ./0 /*"+0 20/*+-*#/' $+**#'B, #. '+-+$$&0?,
$+* “Alarm shutdown” feature &--/0,#'B */ ?/(0 $?$*+%'$-/',#*#/'.
9. Do NOT touch the servo case right after servo operation. @* %&? "/*.
10. Keep away from water, humidity, dust and oil.
11. @* #$ ,+$#B'+, ./0 #',//0 2(02/$+. 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
5/ P4! $*/0+/($+ $+0;/ %/*/0 (',+0 <+)/1 +E*0+%+ -/',#*#/'. @* %&? -&($+ %&).('-*#/' /0 ,&%&B+ /.
20/,(-*.
§ 5#0+-* )#B"* &', N#B" *+%2+0&*(0+ %/0+ *"&' 70 ˚L/0 >/1 *+%2+0&*(0+ )/1+0 *"&' %#'($ 20˚L.
§ N#B")? N(%#, $2&-+ / 82&-+ "&;#'B H#<0&*#'B -/',#*#/' / 82&-+ "&;#'B 5($* / 82&-+ -&($#'B
M)+-*0/$*&*#-

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1.4 Constant Load / Overload Protection
4;+0)/&, 20/*+-*#/' (4;+0)/&, $"(*,/1') .+&*(0+ #$ */ 20+;+'* /;+0)/&, -/',#*#/' 1"#-" B0+&*)? &..+-* *"+
$+0;#-+ )#.+ &', */ %/*/0 <(0'/(*. :)+&$+ 0+&, *"+ ./))/1#'B ./0 20/2+0 20/*+-*#/' &', ($+ #* &--/0,#'B */ *"+
-/',#*#/'$.
About mechanism of overload protection (overload shutdown) and terminology
! !"+ /;+0)/&, 20/*+-*#/' %+-"&'#$% /. *"+ =/0-+ L/'*0/) ;+0$#/' ($+$ &-/%<#'&*#/' /. -(00+'*
&--(%()&*#/' &', /2+0&*#/' *#%+ &--(%()&*#/'.
- @' -&$+ /. -/'*#'(/($ /2+0&*#/' D! 0&*+, )/&,, 8"(*,/1' /--(0$ &.*+0 &</(* 30 $+- &$ *"+
&--(%()&*+, -(00+'* ;&)(+.
- @' -&$+ /. -/'*#'(/($ /2+0&*#/' 7P5M9 0&*+, )/&,, 8"(*,/1' /--(0$ &.*+0 )/'B+0 *"&' 30 $+-, <(*
8"(*,/1' 1#)) <+ %&,+ 1#*"#' %&E. 180 $+- +;+' &* *"+ )/1+$* )/&,.
- @' -&$+ /. -/'*#'(/($ /2+0&*#/' D64HM 0&*+, )/&,, 8"(*,/1' /--(0$ $"/0*+0 *"&' 30 $+-/',$ ,(+ */
*"+ "#B" &%/('* /. -(00+'* &--(%()&*#/'. =/0 +E&%2)+, $"(*,/1' /--(0$ 1#*"#' 2 $+-/',$ 1"+'
*"+ %&E#%(% -(00+'* /. 1.6D.)/1$.
! 5(*? -?-)+ #$ *"+ 0&*#/ /. *"+ *#%+ 1"#-" %/*/0 #$ &-*(&))? ,0#;+' &B&#'$* *"+ *#%+ /. %/*/0 0+$*.
! 5(*? -?-)+ 50% %+&'$ *"&* 50% /. *"+ *#%+ $"/(), <+ 0+$*/0+, #. *"+ %/*/0 0('$ 50% /. *"+ *#%+.
! 3/*/0 /2+0&*#'B *#%+ #'-)(,+$ *"+ *#%+ 1"#-" *"+ %/*/0 0/*&*+$/%/;+$ '/0%&))? &$ 1+)) &$ *"+ *#%+
1"#-" %/*/0 ,0&1$ -(00+'* <? $*(-A -/',#*#/' 1#*"/(* %/*/0 0/*&*#'B.
Overload shutdown Disable
!"+ /;+0)/&, $"(*,/1' .('-*#/' 20/*+-*$ *"+ $+0;/ &-*(&*/0 (',+0 /;+0)/&, -/',#*#/'$. 5+2+',#'B /' *"+
&22)#-&*#/', *"+0+ &0+ &22)#-&*#/'$ *"&* '++, */ <+ /2+0&*+, (',+0 $+;+0+ -/',#*#/'$, +;+' #. *"+ /;+0&))
%+-"&'#$% 20/*+-*#/' #$ %/0+ #%2/0*&'* *"&' *"+ $+0;/ &-*(&*/0, /0 +;+' #. *"+ )#.+ /. *"+ $+0;/ &-*(&*/0 #$
$"/0*+'+,. =/0 *"#$ -&$+, $"(*,/1' .('-*#/' -&' <+ ,#$&<)+, *"0/(B" %#B"*CD: $+0;/ %&'&B+0 $/.*1&0+ $/ *"&*
$"(*,/1' ,/+$ '/* 1/0A (',+0 /;+0)/&, $#*(&*#/'.N/1+;+0, #' *"+ ./0-+ -/'*0/) ;+0$#/', *"+ B/&) -(00+'* -&'
<+ $+* $/ *"&* *"+ %/*/0 -&' <+ 20/*+-*+, <? '/* +E-++,#'B *"+ $+* %&E#%(% -(00+'* +;+' #' &' /;+0)/&,
$#*(&*#/'. (82+-#.#- ,&*& 1#)) <+ &''/('-+, )&*+0)
Recovery after overload shutdown
8#'-+ *"+ -/%%('#-&*#/' )#'+ #$ $*#)) .('-*#/'#'B &.*+0 $"(*,/1', #* -&' <+ 0+$*/0+, */ *"+ #'#*#&) $*&*+ <? “9+$*&0*”
-/%%&', /0 <? 0+-/''+-*#'B 2/1+0. 6+ $(0+ */ 0+%/;+ *"+ -&($+ /. /;+0)/&, <+./0+ 0+$*/0&*#/'.
Exception and Cautions
Caution 1) Q"+' *"+ $20#'B #$ #'$*&))+, <+*1++' *"+ &22)#-&*#/' &', *"+ &-*(&*/0, /0 #* #$ #'$*&))+, #' C&E#$ (*"+
,#0+-*#/' /. B0&;#*?), #* %&A+$ +E*+0'&) ./0-+ */ *"+ &-*(&*/0. 7',+0 *"+$+ -/',#*#/'$, *"+ $+0;/ &-*(&*/0 /2+0&*+$
$)#B"*)?, <(* -/'*#'(/($)? */ A++2 #*$ 2/$#*#/'. @. *"#$ -/',#*#/' 2+0$#$*$, &-*(&*/0 %&? #';/A+ 4;+0)/&,
$"(*,/1' #' $/%+ -&$+$. !/ 20+;+'* *"#$, ($+ =/0-+ 4.. -/%%&', 1"#)+ +E*+0'&) 2/1+0 #$ &22)#+,.
Caution 2) M&-" *#%+ /;+0)/&, $"(*,/1' #$ +E+-(*+,; #* #$ '/* <#B <(* #* ,&%&B+$ *"+ %/*/0. !"+0+./0+, *"+ -&($+
/. /;+0)/&, %($* <+ 0+%/;+, &.*+0 *"+ .#0$* /;+0)/&, $"(*,/1' $/ *"&* $"(*,/1' ,/+$ '/* /--(0 .0+G(+'*)?.
Important Note : Constant load / Overload
Protection / Force Off Function

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
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OverloadProtectionFunction
7$#'B 4;+0)/&, 20/*+-*#/' .('-*#/', 1+ -&' 20/*+-* %/*/0 ,&%&B+ .0/% /;+0)/&, -/',#*#/'.
4;+0)/&, 20/*+-*#/' .('-*#/' #$ <+#'B &-*#;&*+, .0/% *"+ .&-*/0?. Q"+' #* #$ &-*#;&*+,, %/*/0 2/1+0 1#)) <+ -(*
/..#' -&$+ /. /;+0)/&, -/',#*#/' */ 20/*+-* *"+ $+0;/ &-*(&*/0
!"+ +&$#+$* 1&? */ $+*(&-*#;&*+/#'&-*#;&*+) 4;+0)/&, 20/*+-*#/' .('-*#/' #$ */ -/''+-* $+0;/ 1#*" 8+0;/ 3&'&B+0
8/.*1&0+ ($#'B @9-78601 :L 786 #'*+0.&-+. R/ */ "8"(*,/1' D)&0% 8+**#'B” &', $#%2)? -)#-A(&-*#;&*+) "4;+0)/&,
M00/0".
D'/*"+0 %+*"/, */ $+* 4;+0)/&, 20/*+-*#/' #$ */ ($+ &L/%%&', 2&-A+*. S/( -&' $+', "Q0#*+ 8#'B)+ 9+B#$*+0"
-/%%&', */ *"+ &,,0+$$(0T0&) 1"#-" #$ *"+ &,,0+$$ ./0 D)&0% 8"(*,/1'. 8+* <#* 5 ($++ <+)/1) ./0 4;+0)/&, +00/0
*/ "1"(4;+0)/&, &-*#;&*#/'), *"+' $+', " Q0#*+ 8#'B)+ 9+B#$*+0" -/%%&', */ *"+ $+0;/ %/*/0. 8+0;/ ./0-+ 1#)) <+
-(* /.. (',+0 /;+0)/&, -/',#*#/' #. *"+ <#* #$ $+* &* "1".(1= 4;+0)/&, 20/*+-*#/' &-*#;&*#/' / 0=@'&-*#;&*#/')
Error
bit
4;+0)/&, M00/0
5
<%1;' C"6'(4* D##"#
0
Refer to below example for"Q0#*+ 8#'B)+ 9+B#$*+0" command.
Address
Function
Starting
Address Hi
Starting
Address Lo
No of
Register Hi
No of
Register Lo
CRC Lo
CRC Hi
0E01
0E06
0E00
0E0&
0E00
0E21
0E69
0E,0
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 Function
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! D.*+0 *"+ $+0;/ &-*(&*/0 %/;+$ */ *"+ ,+$#B'&*+, 2/$#*#/', *"+ /2+0&*#/' $*/2$ (')+$$ *"+0+ #$ &' +E*+0'&)
./0-+ *"&* -&($+$ *"+ 2/$#*#/' ;&)(+ -"&'B+. @. *"+ 2/$#*#/' ;&)(+ /. *"+ &-*(&*/0 #$ -/'*#'(/($)? -"&'B+, ,(+
*/ ;#<0&*#/' /0 +E*+0'&) ./0-+, *"+ &-*(&*/0 #$ /2+0&*+, -/'*#'(/($)? 1#*"/(* 0+$* */ $*#-A */ *"+ ,+$#B'&*+,
2/$#*#/' ;&)(+, 1"#-" &..+-*$ *"+ )#.+$2&' /. *"+ %/*/0.
! @' *"#$ -&$+, #. *"+ =/0-+ 4.. .('-*#/' #$ 20/2+0)? (*#)#O+,, *"+ %/*/0 2/1+0 -&' <+ 0+)+&$+, */ &))/1 *"+
%/*/0 */ 0+$* 1"#)+ %&#'*&#'#'B #*$ 2/$#*#/' 1#*" %+-"&'#-&) .0#-*#/' (3+-"&'#-&) 8+). >/-A .('-*#/'). M;+'
1"+' #* #$ '+-+$$&0? */ A++2 *"+ 2/$#*#/' ./0 &0+)&*#;+)? )/'B *#%+ &.*+0 0+&-"#'B &-+0*&#' 2/$#*#/', $"(**#'B
/.. *"+ 2/1+0 /. *"+ %/*/0 ($#'B *"+ =/0-+ /.. 2&0&%+*+0 &$ &' &,,+, $&.+*? .('-*#/' "+)2$ */ %&'&B+ *"+
)#.+$2&' /. *"+ %/*/0.
! 7',+0 ./0-+ /.. -/',#*#/', -/%%('#-&*#/' #$ $*#)) &)#;+ 1"#)+ %/*/0 2/1+0 #$ /.., $/ $+0;/ 1#)) %/;+ &B&#'
1"+' $+0;/ B+*$ '+1 2/$#*#/' -/%%&', 1#*"/(* B#;#'B “=/0-+ 4P” -/%%&',.
! =/0-+ 4.. .+&*(0+ -&' <+ &;&#)&<)+ ./0 *"+ &-*(&*/0 "&;#'B “3+-"&'#-&) $+).-)/-A” .+&*(0+. :)+&$+ $++ *"+ -"&0*
<+)/1 */ $++ &;&#)&<#)#*?. (6+)/1 -"&0* $"/1$ $+).-)/-A ./0-+ /. 27%% $*0/A+ %#B"*?CD: /')?. 9+.+0 */ *"+
$+2&0&*+ $2+-#.#-&*#/' ./0 40/53/90%% $*0/A+ ;+0$#/'’$8+). )/-A ./0-+.)
Rated Load Spec#
Mechanical Self-Lock
10 ~20N
P4! D;&#)&<)+
27 ~100N
D;&#)&<)+
=/0 =/0-+ 4.., $+', 0E00 &$ &"Q0#*+ $#'B)+ 0+B#$*+0" -/%%&', */ *"+ &,,0+$$(0E32) 1"#-" #$ *"+ &,,0+$$ ./0 =/0-+
4P/4==. (=/0 =/0-+ 4P, $+', 0E01)
Refer to below example for " Write single register " command.
Address
Function
Starting
Address Hi
Starting
Address Lo
No of
Register Hi
No of
Register Lo
CRC Lo
CRC Hi
0x01
0x06
0x00
0x32
0x00
0x00
0x28
0x05
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 33 '(* -&' <+ ($+, */ .#E *"+ "#'B+ &', "#'B+ <&$+. D)$/, 33 '(* $"/(),
<+ ($+, <+*1++' 0/,-+', &', 0/,-+', *#2 &$ &$*/22+0.
2.2 Dimension
:)+&$+ 0+.+0 */ ,+*&#)+, ,#%+'$#/' .0/% 35,0&1#'B &* /(0 1+<$#*+. (111.%#B"*?O&2.-/% →5#B#*&) D0-"#;+$
→12>.J=/0-+J-/'*0/)J$+0#+$→Drawing)
[27mm Stroke Lineup]
**For#27mm stroke actuator,
if necessary, user can extend
it to 30mm through the servo
manager program
(recommended to use 27mm
for better#mechanical
stability)

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

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2.3 Specification
Rated
Load
Stroke
Communication
Rated Load /
Max Speed(No
Load)
Stall Force at
Current
(1.6A/ 800mA /
1000mA)
Mechanical
Self Lock
(ZAxis Use)
Lead Screw /
Gear Ratio /
Gear Type
RS-485
TTL/PWM
10N
4088
12-,-10!-40
12-,-10./-40
100/ 11088/&
600/ 400/ 100
0"
(.(?
(''*%'$"% '"
(116$)('$"%)
-*(+ E%46* 20F
/ 10:1
/ D%4$%**#$%4
.6(&'$) G*(#&
5388
12-,-10!-53
12-,-10./-53
9088
12-,-10!-90
12-,-10./-90
12N
2788
12-,-12!-27
12-,-12./-27
120/ 11088/&
1000/ 600/ 80
17N
4088
12-,-17!-40
12-,-17./-40
170/ 8088/&
1000/ 600/ 80
-*(+ E%46* 15F
/ 10:1
/ D%4$%**#$%4
.6(&'$) G*(#&
5388
12-,-17!-53
12-,-17./-53
9088
12-,-17!-90
12-,-17./-90
20N
2788
12-,-20!-27
12-,-20./-27
200/ 8088/&
1200/ 720/
9.60
27N
4088
12-,-27!-40
12-,-27./-40
270/ 2888/&
1600/ 960/
12.80
H*&
(E116$)(76*)
-*(+ E%46* 5F
/ 10:1
/ D%4$%**#$%4
.6(&'$) G*(#&
5388
12-,-27!-53
12-,-27./-53
9088
12-,-27!-90
12-,-27./-90
35N
2788
12-,-35!-27
12-,-35./-27
350/ 2888/&
2100/ 1260/
16.80
42N
4088
12-,-42!-40
12-,-42./-40
420/ 1588/&
2400/ 1440/
19.20
-*(+ E%46* 5F
/ 20:1
/ I*'(6 G*(#
5388
12-,-42!-53
12-,-42./-53
55N
2788
12-,-55!-27
12-,-55./-27
550/ 1588/&
3000/ 1800/
240
78N
4088
12-,-78!-40
12-,-78./-40
780/ 7.788/&
4200/ 2520/
33.60
-*(+ E%46* 5F
/ 50:1
/ I*'(6 G*(#&
5388
12-,-78!-53
12-,-78./-53
100N
2788
12-,-100!-27
12-,-100./-27
1000/ 7.788/&
6000/ 3600/
480

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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
3+*&) D))/? 9/,
Motor Type
L/0+)+$$ 3/*/0
Rated Voltage
12H
Motor Watt
26Q
Recommended Duty Cycle
At Rated Load
At Max Applicable Load
3&E 50%
3&E 20%
Current Accuracy
V15%&* 4;+0 50%D
Position Sensor
10WX)#'+&0 :/*+'*#/%+*+0
Input Voltage Range
7 K13H
Current Consumption
Idle
Rated
Stall
Default
MAX
20%D
380%D
800%D
1.6D
Audible Noise
D220/E. 50,< &* 1%
LED Indication
!1/ M00/0$ @',#-&*#/'$ (@'2(* ;/)*&B+, 4;+0)/&,)
Data Communication / Protocol
98-485 /0 !!>(:! ;+0$#/') /
@9 9/</* /2+' 20/*/-/) (5+.&()*YJZJ345678J9!7J[81#*-"&<)+YJ
Ingress Protection
@:-54(5($* \Q&*+0 !#B"*)
Size / Weight
27mm
57.5(>)E29.9(Q)E15(N)%%/ 49K52B
40mm
86.9(>)E36(Q)E18(N)%%/ 96K99B
53mm
111.5(>)E36(Q)E18(N)%%/ 124K127B
90mm
151.5(>)E36(Q)E18(N)%%/ D220/E. 177B
Operating Temperature
-10℃K60℃
Wire Harness
!!>(:! ;+0$#/') : 3/)+E */ 3/)+E !?2+ (3/)+E 50-37-5033, 32#'$) /
200%%)+'B*", 0.08]60(22DQR)
/0 98485(=;+0$#/') : 3/)+E */ 3/)+E !?2+(3/)+E 0510650400, 42#'$) /
200%% )+'B*", 0.08]60(22DQR)
* 5+$#B' &', 82+-#.#-&*#/' -&' <+ -"&'B+, 1#*"/(* 20#/0 '/*#-+ ./0 .(0*"+0 #%20/;+%+'*.

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3. Applications
Factory Automation
• 6+**+0 9+2)&-+%+'* /. :'+(%&*#- L?)#',+0
• 9+&)-!#%+ D(*/%&*#- Q#,*" D,F($*%+'* L/';+?+0
• 9+&)-!#%+ D(*/%&*#- :0/,(-* D)#B'%+'* (72/5/1' /0 >+.*/9#B"*)
• D(*/%&*#- H&)(+ L/'*0/) (/#) /0 1&*+0)
• D(*/%&*#- 5#$2+'$#'B 1#*" 8?0#'B+
• D(*/%&*#- L)&%2#'B 8?$*+%
• =#**#'B /0 D,F($*#'B 5#$*&'-+
• :#-A \:)&-+
• @' \/(* / ME*+'$#/' \0+*0&-*#/'
• 42+' \L)/$#'B (4'-4.. )
• L"&'B+ /. 5#0+-*#/'
N+E&2/,/!0#2/, %/;+%+'*
Production &Test JIGs
• N/)+ :('-"#'B ^#B
• N/)+ @'$2+-*#/' ^#B
• 81#*-" @'$2+-*#/' ^#B
• !/(-" :&'+) @'$2+-*#/' ^#B
• :L 6/&0, !+$*#'B ^#B
Robotics
• 9/</* ^/#'*$
• 9/</* R0#22+0$
• >#'+&0 L/'*0/) :&0*$ /. 8(0B#-&) 9/</*
UAV / Professional Drone
• =#E+, 1#'B (D#)+0/'/M)+;&*/0/!"0/**)+/=)&2/D#0 60&A+/ 9(,,+0/
!"0/**)+)
• N+)#-/2*+0 (81&$" :)&*+ L/'*0/)/9(,,+0)
• 3()*#-/2*+0 (9+*0&-*, 50/22#'B 5+;#-+)
• >#'+&0 -/'*0/) 2&0*$ ./0 3#)#*&0? 20/,(-*$
• :&'/!#)* L&%+0& -/'*0/)
Medical / Lab Equipment
• >#'+&0 2/$#*#/' -/'*0/) ./0 3+,#-&) 5+;#-+$ (N@=7, +*-)
• L&%+0& /0 >&$+0 =/-($#'B L/'*0/)
• >&</0&*/0? !+$* MG(#2%+'*
Education / Hobby
• 35:0#'*+0
• D0,(#'/ /0 9&2$<+00? :#+ L/'*0/)
• 3&A+0'$5@S :0/F+-*

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4. Servo Control
4.1 Circuit Connection
n TTL (3Pin Connector-Model 12Lf-xx-xxPT-xSeries)
The direction of data signal for TxD and RxD of TTL level will be determined according to the level
of direction_port as below.
§ !"+ )+;+) /. ",#0+-*#/'_2/0*" #$ >4Q :5&*& $#B'&) 1#)) <+ #'2(**+, */ 9E5.
§ !"+ )+;+) /. ",#0+-*#/'_2/0*" #$ N@RN :!E5 $#B'&) 1#)) <+ /(*2(**+, &$ 5&*&.
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)
1(Yellow)
D-
RS485 –
2(White)
D+
RS485 +
3(Red)
VCC
Power +
4(Black)
GND
Power -
74LVC2G241
Communication
Voltage 3V~5V
: 12V
Data ( )
VDD (Red)
GND (Black)

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※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.
§ !"+ )+;+) /. ",#0+-*#/'_2/0*" #$ >4Q : 5&*& $#B'&) 1#)) <+ #'2(**+, */ 9E5.
§ !"+ )+;+) /. ",#0+-*#/'_2/0*" #$ N@RN : !E5 $#B'&) 1#)) <+ /(*2(**+, &$ 5&*&
4.2 Communication
%#B"*?CD: &', ?/(0 %&#' -/'*0/))+0 1#)) -/%%('#-&*+ <? +E-"&'B#'B ,&*& 2&-A+* ;#& 98-485 /0 !!> ,&*&
-/%%('#-&*#/'. !"+0+ &0+ *1/ 2&-A+*$, *"+ /'+ #$ L/%%&', 2&-A+* (3&#' -/'*0/))+0 */ %#B"*?CD:) &', *"+
/*"+0 #$ *"+ =++,<&-A 2&-A+*(%#B"*CD: */ ?/(0 %&#' -/'*0/))+0). :Q3 ,/+$ '/* $(22/0* .++,<&-A ,&*&.
4.2.1 Specification
① Communication specification
§ Data Mode (RS-485 or TTL)
D$?'-"0/'/($ 8+0#&) -/%%('#-&*#/' (8 <#*, 1 8*/2 <#*, P/'+ :&0#*?)
Item
Spec
Structure
N&).-,(2)+E 7D9!
Baud Rate
57600<2$(,+.&()*)
Data Size
8<#*
Parity
'/'-2&0#*?
Stop Bit
4'+ <#*
! 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 .
FeedbackPacket
MainController
CommandPacket
D-
D+
CAUTION!
: 12V
MAX485 Voltage 5V
D- ( )
D+ ( )
VCC (Red)
GND (Black)

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② Daisy-Chain Connection
D.*+0 0+-+#;#'B L/%%&', :&-A+* &* %()*#2)+ G*? /. %#B"*CD:$, *"+ $+0;/ 1"/$+ @5 #$ P1#)) <+
/2+0&*+, /')?. (4')? P@5 $+0;/ 1#)) $+', =++,<&-A 2&-A+* &', +E+-(*+ L/%%&',.)
Caution
Unique ID
M&-" %#B"*CD: $+0;/ %($* "&;+ &' #',#;#,(&) @5 */ 20+;+'* #'*+0.+0+'-+ <+*1++' $&%+ @5$.
!"+0+./0+, ?/( '++, */ $+* #',#;#,(&) @5$ ./0 +&-" $+0;/ #' *"+ '+*1/0A '/,+.
7$+0 %&? &$$#B' 247 ,#..+0+'* @5$, <(* *"+ '(%<+0 /. -/''+-*&<)+ &-*(&*/0$ &0+ 32 ,(+ */ *"+ )#%#*
/. '/,$ /. 98-485 $*&',&0, 0+B()&*#/'.
D$ .&-*/0? ,+.&()* @5 #$ 1, 2)+&$+ &$$#B' ,#..+0+'*, #',#;#,(&) @5$ ./0 +&-" $+0;/. @* 1#)) <+ +&$#+0 #.
?/( &$$#B' +&-" @5 1"+' ?/( -/''+-* +&-" $+0;/ #' 5&#$?--"&#' '+*1/0A /'+ <? /'+.
ID=2
ID=N
ID=1
Feedback Packet(ID=N)
Command to ID N
Main
Controller

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4.2.2 Packet Description
① Command Packet
@* #$ -/%%&', 2&-A+*$ ./0 $+0;/ /2+0&*#/'. @*$ $*0(-*(0+ &', +)+%+'*$ &0+ &$ <+)/1.
n Structure
n Element
Index
Data
Description
0
Start
≥3.5 )5(#
1
Address
J*#@" <= (K(%4* : 1 L247, M#"(+)(&' <=: 0)
2
Function
I"+7;& !;%)'$"% >"+*
3
Data
0287$'
4
CRC
167$'
n Element Description
1. Start
!"+ %#'#%(% *#%+ */ ,#$*#'B(#$" <+*1++' ,#..+0+'* .0&%+$.
D* &-/%%('#-&*#/' $2++, /. 57600<2$, 1<#* *0&'$%#$$#/' *#%+ #$ 0.017%$+-, &', #' *"+
&</;+ -&$+ (3.5 -"&0&-*+0 *#%+$, 1 L"&0&-*+0 = 8<#*), 8*&0* !#%+ #$ 0.486%$+-.
@. &'/*"+0 .0&%+ #$ *0&'$%#**+, <+./0+ *"+ $*&0* *#%+, #* #$ 0+-/B'#O+, &$ &-/'*#'(&*#/' /.
*"+ 20+;#/($ .0&%+.
!"+ $2&-#'B <+*1++' +&-" .#+), %($* <+ 1#*"#' 10<#*.
2. Address (1Byte)
@,+'*#.#+0 ./0 *"+ @5 /. +&-" &-*(&*/0 $/ *"&* &-*(&*/0$ -&' <+ -/''+-*+, ;#& $+0#&) 5&#$?
-"&#'. Q"+' @5 = 0 (=&-*/0? ,+.&()*), #* #$ &60/&,-&$*#'B @5.
@5 0&'B+ = 1 K247
3. Function (1Byte)
H&0#/($ ,+$#B'&*+, -/,+$ ./0 -/%%&',#'B .0/% 3&$*+0 */ 8)&;+ (D-*(&*/0).
!"+ %&#' -/,+ #$ ’03 &', 06’. (9+.+0 */ *"+ .('-*#/' -/,+ ./0 ,+*&#)+, #'./.)
Function
CODE
Description
Read Holding Register
0203
K*(+ E)';('"# =('(
Write Single Register
0206
J*' +('( @(6;* '" '5* &1*)$,$) (++#*&& ", ()';('"#
SP Function code 1
02,6
J?&'*8 I*8"#? K*&*'
SP Function code 2
02,8
J?&'*8 K*&'(#'

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4. Data(1Byte)
H&0#+$ ,+2+',$ /' *"+ .('-*#/' -/,+, &', *"+ .#+), -/'.#B(0&*#/' #$ &* )+&$* 2<?*+$.
L/%2/$+, /. 9+B#$*+0 D,,0+$$, 5&*&, 6?*+-L/('*, +*-.
5. CRC Check
L/'$#$*$ /. 2 <?*+$.
!0&'$%#$$#/' /0,+0 #$ #' *"+ /0,+0 /. )/1+0 1 <?*+ + (22+0 1 <?*+.
L9L L"+-A 3+*"/, #$ L9L-16(T`16 + T`15+T`2 + 1)
② Function File
!"+ -/,+$ ($+, #' *"+ .('-*#/' .#+), &0+ &$ ./))/1$.
• ‘03’: Read Holding Register (0x03)
- !"+ -/,+ *"&* 0+&,$ *"+ 2&0&%+*+0$ /. *"+ *&0B+* &-*(&*/0.
- 4'+ 2&0&%+*+0 /0 %()*#2)+ -/'$+-(*#;+ 2&0&%+*+0 ;&)(+$ -&' <+ 0+&,.
- 9+B#$*+0 #$ *"+ /0,+0 /. 2&0&%+*+0$(40001 K4EEEE), &', *"+ -/00+$2/',#'B 5&*&
D,,0+$$ #$ “0000 KEEEE”.
• ‘06’ : Write Single Register (0x06)
- !"+ -/,+ */ $+* *"+ $2+-#.#- 2&0&%+*+0 ;&)(+ /. *"+ *&0B+* &-*(&*/0.
- 8+* *"+ ;&)(+ <? ,+$#B'&*#'B /'+ $2+-#.#- 2&0&%+*+0.
• SP(Special) Function Code(Not used for standard Modbus)
- !"#$ #$ '/* &('#;+0$&))? ($+, -/,+, <(* #* #$ &.('-*#/' -/,+ ($+, ./0 $2+-#&) .('-*#/'$ /.
%#B"*?CD: &-*(&*/0$.
▶8?$*+% 3+%/0? 9+$+*
- 9+$+* *"+ #'*+0'&) 2&0&%+*+0$ /. *"+ &-*(&*/0.
- 5+2+',#'B /' *"+ /2*#/', 8+0;/ @5 &', 6&(,0&*+ -&''/* <+ 0+$+*.
▶8?$*+% 9+$*&0*
- 9+<//* *"+ &-*(&*/0
- 4;+0)/&, 8"(*,/1' D)&0% */ <+ 0+)+&$+,.
option
Bit
Reset Action
Servo ID
0
<%$'$(6$9* &*#@" <= '" 1
Baud-Rate
1
<%$'$(6$9* M(;+-#('* '" 32(57600)

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4.2.3 Data Map
① Data Memory Map
3()*# 10#*+ .('-*#/' #$ '/* $(22/0*+,.
D)) ,&*& 1#)) <+ 0+$+* */ ,+.&()* ;&)(+ 1"+' 9+$+* -/%%&', #$ +E+-(*+,.
Address
addr
Name
Access
Default
MIN
MAX
Type
40001
0E0000
3/,+) P(%<+0
9
-
P/'-
;/)&*#)+
40002
0E0001
H+0$#/' /. =#0%1&0+
9
-
40003
0E0002
@5
9Q
1
1
247
40004
0E0003
6&(, 9&*+
9Q
32(0E20)
16
128
40005
0E0004
:0/*/-/) !?2+
(345678/@99464!)
9Q
0
0
1
40006
0E0005
8"/0* 8*0/A+ >#%#*
9Q
0(0E0000)
0
4095
40007
0E0006
>/'B 8*0/A+ >#%#*
9Q
Individual
Spec
0
4095
40008
0E0007
>/1+$* >#%#* H/)*&B+
9
70
-
-
40009
0E0008
N#B"+$* >#%#* H/)*&B+
9
130
-
-
40010
0E0009
D)&0% >M5
9Q
32
-
-
40011
0E000&
D)&0% 8"(*,/1'
9Q
32
-
-
40012
0E000<
8*&0* L/%2)#&'-+ 3&0B#'
9Q
7
0
255
40013
0E000-
M', L/%2)#&'-+ 3&0B#'
9Q
2
0
255
40014
0E000,
82++, >#%#*
9Q
1023
0
1023
40015
0E000+
L(00+'* >#%#*
9Q
800
0
1600
40016
0E000.
L&)#<0&*#/' 8"/0* 8*0/A+
9
Individual
Spec
0
4095
40017
0E0010
L&)#<0&*#/' >/'B 8*0/A+
9
0
4095
40018
0E0011
D--+)+0&*#/' 9&*#/
9Q
0
255
40019
0E0012
5+-+)+0&*#/' 9&*#/
9Q
0
255
40020
0E0013
L(00+'* @R&#'
9Q
0
255
40021
0E0014
L(00+'* :R&#'
9Q
0
255
40022
0E0015
82++, 5R&#'
9Q
0
255
40023
0E0016
82++, @R&#'
9Q
0
255
40024
0E0017
82++, :R&#'
9Q
0
255
40025
0E0018
3#' 8*0/A+ :/$#*#/'
9Q
0
255
40026
0E0019
3&E 8*0/A+ :/$#*#/'
9Q
0
255
40051
0E0032
=/0-+ 4P/4==
9Q
0
0
1
;/)&*#)+
40052
0E0033
>M5
9Q
0
0
255
40053
0E0034
R/&) :/$#*#/'
9Q
-
0
4095
40054
0E0035
R/&) 82++,
9Q
J1**+
-$8$'
0
1023
40055
0E0036
R/&) L(00+'*
9Q
>;##*%'
-$8$'
0
1600
40056
0E0037
:0+$+'* :/$#*#/'
9
-
0
4095
40057
0E0038
:0+$+'* L(00+'*
9
-
0
1600
40058
0E0039
:0+$+'* 3/*/0 42+0&*#'B
9&*+
9
-
0
2048
40059
0E003&
:0+$+'* H/)*&B+
9
-
0
255
40060
0E003<
3/;#'B
9
-
0
1
40061
0E003-
N&0,1&0+ M00/0 8*&*+
9
0
0
255

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
  
19

4.2.4 Data Description
Non-Volatile Memory
1) Model Number
!"+ %/,+) '(%<+0 /. 3#B"*?CD:
"9+&," /')? */ ,#$-0#%#'&*+ \0+-/B'#O+ -/'-+0'+, %/,+)
2) Version of Firmware
L"+-A #. -(00+'* .#0%1&0+ #$ *"+ )&*+$* ;+0$#/'.
3) ID [1~247 / Default : 1]
@5 */ ,#$-0#%#'&*+ +&-" $+0;/. 5#..+0+'* @5$ $"/(), <+ &$$#B'+, #' 5&#$?-L"&#' $?$*+%. (5+.&()* @5 :
1)
@' -&$+ /. @5 = 0, #* #$ /2+0&*+, (',+0 "60/&,-&$*#'B 3/,+ (%/;+ &)) &-*(&*/0$)" &',
=++,<&-A :&-A+* ,/+$ '/* 1/0A.
@' -&$+ /. @5 = 1 K247, @5 "P" 1"#-" #$ $*/0+,#' *"+ $+0;/ 1#)) <+ /2+0&*+, #',#;#,(&))?.
4) Baud Rate
5+*+0%#'#'B -/%%('#-&*#/' $2++,. 5+.&()* ;&)(+ #$ 57600<2$
8+0;/ $?$*+% 378! <+ 0+<//*+, */ &22)? -"&'B+, <&(, 0&*+ */ *"+ &-*(&*/0.
[Setting Value]
Value
Baud
Rate(bps)
16 (0E10)
115200
32 (0E20)
57600
48 (0E30)
38600
64 (0E40)
19200
128 (0E80)
9600
5) Stroke Limit [0~4095]
8*0/A+ )#%#* <+*1++' 8"/0* 8*0/A+ (D) &', >/'B 8*0/A+ (L) 1"#-" #$ *"+ %&E/%#'. ;&)(+ /. R/&)
:/$#*#/'.
@. *"+ R/&) :/$#*#/' ;&)(+ #$ $%&))+0 *"&' *"+ 8"/0* 8*0/A+ >#%#* ;&)(+ /0 B0+&*+0 *"&' *"+ >/'B
8*0/A+ >#%#* ;&)(+, R/&) :/$#*#/' ;&)(+ #$ 0+2)&-+, 1#*" *"+ 8*0/A+ >#%#* ;&)(+.
<= $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5* +('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#' '$8*
+;#$%4 &(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;* )5(%4*& +;#$%4 "1*#('$"%.
M(;+ K('* $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5*
+('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#' '$8* +;#$%4
&(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;*
)5(%4*& +;#$%4 "1*#('$"%.
<% "6+ !$#8:(#* @*#&$"% 1.5 "# 6":*#, M(;+#('* 3860071& $&
%"' 1#"@$+*+.
J'#"3* 6$8$' $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5*
+('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#' '$8* +;#$%4
&(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;*
)5(%4*& +;#$%4 "1*#('$"%.

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG
  
20

6) Protocol type
8+)+-* *"+ -/%%('#-&*#/' 20/*/-/) %+*"/,.
Value
Protocol
Description
0 (0E00)
345678 9!7
@',($*0#&) 98485 $*&',&0, -/%%('#-&*#/' 20/*/-/)
1(0E01)
@9 :0/*/-/)
@99464!’$/1' *?2#-&) :0/*/-/)
※:)+&$+ 0+.+0 */ *"+ @9 :0/*/-/) ($+0 %&'(&). !"#$ %&'(&) #$
./0 345678 20/*/-/) /')?.
T
7) The Highest / Lowest Limit Voltage
722+0/)/1+0 )#%#* /. #'2(* 2/1+0 ;/)*&B+ (('#*: 0.1H/ P/* -"&'B+&<)+). !"+ $2++, &', ./0-+ /. *"+
&-*(&*/0 -&' <+ -"&'B+, &--/0,#'B */ *"+ #'2(* ;/)*&B+. =/0 ,+*&#)$, 0+.+0 */ *"+ ,&*&$"++* /. *"+
%/,+).
Parameter
Default Value
>/1+$* ;/)*&B+
7.0[H] (70)
N#B"+$* H/)*&B+
13[H] (130)
8) Motor Operating Rate [0~1023 / Default : 1023]
@* 0+20+$+'*$ *"+ %&E#%(% /2+0&*#'B 0&*+ /. *"+ %/*/0 &', *"+ %&E#%(% :Q3 ;&)(+ $(22)#+, */
*"+ %/*/0. @. #* #$ $+* */ )+$$ *"&' 400, *"+ %/*/0 %&? '/* /2+0&*+. :)+&$+ '/*+ *"&* -"&'B#'B *"+
3/*/0 42+0&*#'B 9&*+ &)$/ -"&'B+$ *"+ $2++, &', $*&)) ./0-+.
9) Alarm LED [0~255 / Default : 33]
If concerned bit is set as "1" when error occurs, error LED indication will be activated. (1 :
activate, 0: deactivate)
Error
bit
LED Indicate
Overload Error
5
Red Blink
Input Voltage Error
0
Red
In case of Input Voltage Error, the alarm is immediately cleared when the error is resolved.
In case of Overload Error, the alarm is not cleared even after overload condition is resolved,
but can be cleared by rebooting the power or restarting the system.
10) Alarm Shutdown [0~255 / Default : 33]
Force will be OFF if concerned bit is set as "1" when error occurs. (1 : activate, 0: deactivate)
Error
bit
Overload Error
5
Input Voltage
Error
0
In case of Lowest Input Voltage Error,
the motor will NOT be shut-down(force
off).
In case of Highest Input Voltage Error
and Overload Error, the motor will be shut-down(force off) and shut-down status will be
cleared by rebooting the power or restarting the system.
.#"'")"6 /?1* $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5* +('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#'
'$8* +;#$%4 &(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;* )5(%4*& +;#$%4 "1*#('$"%.
<% "6+ !$#8:(#* @*#&$"% 1.5 "# 6":*#, "%6? <K .#"'")"6 $& (@($6(76*. (IO=MAJP(@($6(76*P,#"8PCQRSP,$#8:(#*T
I"'"# "1*#('$%4 #('* $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5* +('(, )"88;%$)('$"% 8(? &'"1 ,"# (
&5"#' '$8* +;#$%4 &(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;* )5(%4*& +;#$%4 "1*#('$"%.
E6(#8 -D= $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?"; )5(%4* '5* +('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#' '$8*
+;#$%4 &(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ", ,#*N;*%' @(6;* )5(%4*& +;#$%4 "1*#('$"%.
Overload error / Input voltage error shutdown feature is
activated from the factory. These can be disabled by
user using mightyZAP manager software according to
their wish, but please consider carefully to protect the
motor.
E6(#8 J5;'+":% $& (%"%-@"6('$6* 8*8"#? (#*(. <, ?";
)5(%4* '5* +('(, )"88;%$)('$"% 8(? &'"1 ,"# (&5"#' '$8*
+;#$%4 &(@$%4 1#")*&&. /5*#*,"#*, 16*(&* 7* )(#*,;6 ",
,#*N;*%' @(6;* )5(%4*& +;#$%4 "1*#('$"%.
TIP