IR Robot mighty User manual

mightyZAP
User Manual
Robust Mini Linear Servo Motor ------

mightyZAP USER MANUAL V.1.02
2
INDEX
01 Before USE 3
Introduction
For Safety
For Storage
02 Basic Info 4
Component
Dimension
Specification
03 Application 6
Manipulator
Stewart Platform
Installation
04 Servo Control 8
Circuit Connection
Communication
Specification
Packet Description
Data Map
Command Example
05 Warranty Service 26

mightyZAP USER MANUAL V.1.02
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1.1. Introduction
Thank you for purchasing mightyZAP mini Linear servo motors! Please peruse this manual before use to prevent
any unexpected damage of product or serious injury of users.
mightyZAP mini 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.
[Features]
 Position Control (Positional Accuracy 100um)
 Embedded Drive circuit
 4096 Step High Resolution
 High Performance Coreless Motor
 Minimized Mechanical Backlash (50um)
 Excellent Substitute for pneumatic cylinder which does not support position control
 Reasonable Cost
1.2. For Safety
 Do not disassemble servo motor at user's discretion. Maintenance should be done by authorized
engineer.
 Use designated input power to prevent damage of product.
 Use within the force at rated power(Peak Efficiency Point) for better lifespan & proper performance.
 Be careful to touch the servo case right after operation. It may be hot.
 Be sure to keep servo motor away from water, dust, sand, oil.
 This product is designed for indoor use. Do not use it outdoor condition.
 Do not push / pull the servo rod by excessive force.
 Keep out of reach of Children.
1.3. For Storage
Do NOT store/use servo motor under below extreme condition. It may cause malfunction or damage of product.
 Direct light and High temperature more than 60 ˚C or Low temperature lower than minus 20˚C.
 Highly Humid space
 Space having Vibrating condition
 Space having Dust
 Space causing Electrostatic
1
Before Use

mightyZAP USER MANUAL V.1.02
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2.1. Component
2.2. Dimension
2
Basic Information
① mightyZAP Linear servo motor
② Hinge Base 1pc
③ M3 NUT
④ Hinge Shaft
⑤ M2.5x6
⑥ 200mm Molex to Molex Wire
⑦ 200mm S-01 to Molex Wire

mightyZAP USER MANUAL V.1.02
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2.3. Specification
Stock Item L(7)12-20PT-3 L(7)12-40PT-3
High Speed High Force
Peak Power Point 40N@55mm/s 80N@16mm/s
Peak Efficiency Point 20N@90mm/s 40N@28mm/s
Max. Speed(no load) 110mm/s 37mm/s
Gear Type Super Engineering Plastic
Order Made Item L(7)12-13PT-3 L(7)12-64PT-3 L(7)12-100PT-3
Ultra Speed High Force Ultra Force
Peak Power Point 26N@70mm/s 128N@6mm/s [email protected]/s
Peak Efficiency Point 13N@112mm/s 64N@10mm/s 100N@6mm/s
Max. Speed(no load) 149mm/s 12.4mm/s 7.46mm/s
Gear Type Super Engineering Plastic
2 Metal & 4 Super
Engineering Plastic
4 Metal & 2 Super
Engineering Plastic
Common Specification
Motor Type High Performance Coreless motor
Gear Type Super Engineering Plastic
Stroke 30mm
Positional Accuracy Under 0.1mm (100μ
m
)
Electric al Stroke 30mm
Feedback Potentiometer
10KΩ /mm +/- 1% linearity
Input Voltage Optional - 7.4V or 12.1V (Rated)
Stall Current 3.4A at 7.4V / 2.3A at 12.1V (Premium line)
Operating Temperature -10℃ ~ 50℃
Mechanical Backlash 0.05mm (50μ
m
)
Control System TTL Half Duplex (Daisy Chain) and PWM with Position Feedback
Microcontroller 32bit ARM Core, 4096 Resolution (AC/DC converter)
Pulse Range 900 ㎲(Retracted)~1500 ㎲(Center)~2100 ㎲(Extended)
Parameter Setting Programmable
Ingress Protection IP-54 (Dust & Water Tight)
Dimension / Weight 57.5(L)x29.9(W)x15(H)mm / 45g
LED Indication 7 Errors Indication
(Overload, Checksum, Range, Overheat, Stroke Limit, Input voltage, Instruction Error)
Standard Accessory 1 Mounting Bracket, 2 types Rod end (Detachable linkage and Metal nut(M2.5) type)
Wire/Connector Molex to S-01(Hitec and Futaba compatible) and
Molex to Molex Type(Molex 50-37-5033) / 200mm length, 0.08x60(22AWG)
Caution
Use within Rated Force
For proper performance and better lifespan of mightZAP, it is stronlgy requested to
use it within the rated force range(Rated Force = Peak Efficiency Point).

mightyZAP USER MANUAL V.1.0
3.1. Manipulator
Blow picture shows excavator arm using mightyZAP.
4 joint link structure and 2 joint
structure
picture to make a rotating movement.
[
In case servo position at 0
[
In case servo position at
3
Application
mightyZAP USER MANUAL V.1.0
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6
Blow picture shows excavator arm using mightyZAP.
structure
are simplified. Based on basic link structure, you can refer to below
picture to make a rotating movement.
In case servo position at 0
- fully retracted position]
In case servo position at
30mm - fully extended position]
Application
are simplified. Based on basic link structure, you can refer to below

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3.2. Stewart Platform
Stewart Platform having 6 rotating axis on both upper and lower panel. You can make X, Y, Z movements and
plus, Z axis rotating movement.
Above shows how to make rotating movement of upper panel.
①Nut
②Bearing
③Rotating Shaft
④Linkage Base
⑤Linkage Shaft

mightyZAP USER MANUAL V.1.0
4.1. Circuit Connection
mightyZAP supports both data communication(Half Duplux
under data communication, UART signal of main board should be converted into Half Duplex Type signal.
Conversion circuit will be as below.
The direction of data signal for TxD and RxD
direction_port as below.

The level of "direction_port" is LOW : TxD signal will be outputted as Data.

The level of "direction_port" is HIGH :
4.2. Communication
mightyZAP and your main controller will communicate by exchanging data packet. The sorts of
Command packet (Main controller to mightyZAP) and Feedback packet(mightZAP to your main controller)
4
Servo Control
Main
Controller
mightyZAP USER MANUAL V.1.0
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8
mightyZAP 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.
The direction of data signal for TxD and RxD
of TTL level will be determined according to the level of
The level of "direction_port" is LOW : TxD signal will be outputted as Data.
The level of "direction_port" is HIGH :
: Data signal will be inputted to RxD.
mightyZAP and your main controller will communicate by exchanging data packet. The sorts of
Command packet (Main controller to mightyZAP) and Feedback packet(mightZAP to your main controller)
Servo Control
Feedback Packet
Controller
Command Packet
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.
of TTL level will be determined according to the level of
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)

mightyZAP USER MANUAL V.1.02
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(1) Specification
① Communication specification
 2 Mode in One (Pulse / Data Mode Auto-Switching)
mightyZAP will automatically recognize the input signal between data mode and pulse mode.
 Data Mode
Asynchronous Serial communication (8 bit, 1 Stop bit, None Parity)
Item Spec
Structure Half-duplex UART
Baud Rate 57600bps(default)
Data Size 8bit
Parity non-parity
Stop Bit One bit
 Pulse Mode
PPM(Pulse Position Modulation) Compatible [ Radio-Control Servo Pulse Mode]
(500us(Retracted)~1500 us(Center)~2500 us(Fully Extended)
※ Short stroke : Retract stroke / Long stroke : Extend stroke
② Data specification
Data range is basically determined as below in both Data and Pulse modes. All factors are changeable &
programmable.
Rod Stroke Data Mode Pulse Mode
Short Stroke 0 900us
Half Stroke 2047 1500us
Long Stroke 4095 2100us
Short Stroke
(900us)
Long Stroke
(2100us)
Period
(4ms~25ms)
Start Point
(0us)

mightyZAP USER MANUAL V.1.02
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③ Daisy-Chain Connection
After receiving Command Packet at multiple qty of mightZAPs, the servo whose ID is N will be
operated only. (Only N ID servo will send Feedback packet and execute Command.)
Caution
Unique ID
Each mightZAP servo must have an individual ID to prevent interference between same IDs.
Therefore, you need to set individual IDs for each servo in the network node.
As factory default ID is 0, so please assign different, individual IDs for each servo. It will be easier if
you assign each ID when you connect each servo in Daisy-chain network one by one.
ID=1
ID=N
ID=0
Feedback
Packet(ID=N)
Command Packet(ID=N)
Main
Controller