IR Robot mightyZAP User manual
mightyZAP
User Manual (Force Control Lineup)
Robust Mini Linear Servo
Actuator
This manual is the dedicated manual for FORCE control version actuator which support
force/speed control as well as position control.
This manual is for the Force control version user who has the model number which starts
with “12Lf”. For the users have the actuator which starts with D or L, please refer to the
separate manual.
Refer to the appropriate manual as two different group products have different function
and parameters.
Check your product group!
Does your model number start with 12Lf
-
?
Force Control Version mightyZAP USER MANUAL V.2.5
2
INDEX
01 Before USE 3
02 Basic Info 8
03 Application 11
04 Servo Control 12
!
"#$
05 Optional Accessories 31
!$%
&%
'()*$
06 Warranty Service 33
Force Control Version mightyZAP USER MANUAL V.2.5
3
1.1. Introduction
)* **+',(-$*$.(
#/0
*+',(*(.($($.$1**2$$$
0*+',(.$($*1
$(1.1$&'3$*..0
[Features]
Position Control4$'567**$8
Force Control..
Speed Control.9$
%$:(
6;<*9$
<*$!
!=!*$% $*48
"#$$.$>**$
9.$
1.2. For Safety
$ .$> *+' $0 $ $ * . ($
>0
0 Do NOT press the Rod when the servo is being operated.!.4.8***
$$0
0 Apply proper input voltage > $ .0 1 ?053 3
4,80)*..>***($*3$*0
0 Lifespan of motor can be varied according to the load and duty cycle and etc.
8 Use under rated force. 1 ,:):?@4#0 80)*1$
,:):?.#=>*$*@0 )*$>$
1*$$*0
8 Use under 50% of Duty CycleA$>*($481>$$
. ($ ($ >$$ * > ( 0 )*1
*$ B $C >** * ($ 0
*>1D$**$D>*D
$$0&D$=$0
)*$$1*$$0
8 "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo motor.
<>(1 * . >* * .$ (
*#$.EE ($0
0 Proper wiringA)*$$*>>*>*>*(.
1
Before Use
Force Control Version mightyZAP USER MANUAL V.2.5
4
0<>(1$*:F1$
:>.>*>$0>$$
*.$$0$*>5(
>0
5. Position command within mechanical limit : )* *$ . *$ $ >** ( (
>*$$(*$0! *$*$.>*
F *$ $0 1 . > $ * 0
$*$$1(>$$.($>>$$
.*(($04($(.1
>$$..08$1 :* *>*
($0
;0 It is strictly banned to use multiple qty actuators for single objective.
*1*’.$*$((
*$$04($
8
?0 Do not TWIST the rod with excessive force when tightening the rod end tip0
$#(>*>*
**4>*$*.#81
$4"$:80
$$>.$>(0
8#*9:>**$!4G80)*
(*
4H8
.$
>*$*
*!
4I80
8'1$$* >4J8K4L8*K
.**0
8 '/ * $ * K 4L8 * $0 % $ $4 # !
81M#*K.K**!4I8>*$#>*!4.(
080)*B.$C>**#*$.0
0 Use properly "Overload protection" feature to protect the servo and your system from damage.($
( * 1 * 1 1 “Alarm
shutdown” featureN0
60 Do NOT touch the servo case right after servo operation0*0
0 Keep away from water, humidity, dust and oil0
0 0Do 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
@)O(.$>#0$0
$*<**?P,>$>*P0
<*$<O*(3.O*(O"$
Force Control Version mightyZAP USER MANUAL V.2.5
5
($4($*>8(($>**$*($
.0$*$$>*0
About mechanism of overload protection (overload shutdown) and terminology
)*($**$(.$
$0
: ')$1*>.*$
($0
: &@"9$1*>$*1.
*>>$$.>*#0(*$>$0
: '%3"$1*>***
**$0#$1*>>*>**
#0;'$>0
$**>**$$(*0
$D*D**$.*D*0
!$*>***O($$>$$*>**
>. >*0
Overload shutdown Disable
)*($*>*(($0*$1
*$*.(1(*($$*
**(1(*$*(*0 *1*>
..$***+'(>**>> ($
0 <>(1*$(1*$.**..
#*#(($04>$$.$8
Recovery after overload shutdown
*$$$*>1.*$.B9C
.>0%(*($.0
Exception and Cautions
Exception)($*>> >**$$*(**>(**
($(0 <>(1*$1$.$*(
$**$0
Caution 1)Q**$$.>*$*1$$+#4*
(81 #$*0&*1*($*$1.
$ 0 *1( ($*>0)
(*1>*$#$>$0
Caution 2)"*($*>#1..*0)*1*
($.(*($*>**>2$0
Important Note : Constant load / Overload Protection
F
orce
Off
Feature
Force Control Version mightyZAP USER MANUAL V.2.5
6
Overload Protection Function
&($1>($0
($.(*0 Q*(1>>$$.
($*(
)* > 4(O(8 ($ ( >* ( !
>9:&%&%0RE*>'$C$$ 4(8E($"E0
'**($ 0SEE*
4T8 >** * '$ *>0 . 4 .$>8 ($
EE4($(81*EE*(0(>$$.($
*.EE04U($(OU(8
Error bit
9""93" ?
" ;
($"
* "
9"
,"
3$"
9.$>#$EE0
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
'
# # # # # # #;
A >**(VF4#8
Caution
Use within Rated Load
For proper performance and better lifespan of mightZAP, it is strongly requested to use it within
the rated load range.
Force Control Version mightyZAP USER MANUAL V.2.5
7
Force Off Function
'*((*1*$*#$*
*($*0*($*$*(.
#$1*$>* *($1>**
*$*0
*1*$$=1*>.$$$>*
>*$>**$4!*$$, 80"(>*
*$($$*1**>*
**$*$*0
& 1 $$ $( >*$ > 1 ( >$$ ( >*
(>>*(B@C0
.($.$**(B!*$$$ C0$**.$>
($.$0 4%$> * *> $:$ ? *+' $0 9 *
OO6 (F$$ 08
Rated Load
Mechanical Self-Lock
12 / 20N Lineup @)'($.$
31 / 40N Lineup '($.$
50 / 64N Lineup '($.$
80 / 100N Lineup '($.$
1#EE*4T8>***@O04
@1#8
9.$>#$EE0
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
'
# # # # # # #
: >**(VF4#80
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. .
Force Control Version mightyZAP USER MANUAL V.2.5
8
2.1. Component
W!.#***.0'$1!*$.
.> : : *> *
0
2.2. Dimension
$$>>.04>>>0.0X$'*(X*+'8
[27mm Stroke Lineup]
2
Basic Information
Force Control Version mightyZAP USER MANUAL V.2.5
9
[40mm Stroke Lineup]
[53mm Stroke Lineup]
[90mm Stroke Lineup]
Force Control Version mightyZAP USER MANUAL V.2.5
10
2.3. Specification
Force Control Version mightyZAP USER MANUAL V.2.5
11
Factory Automation
• %9$$
• 9$:)'Q*'/(
• 9$:)''$4&O>,O9*8
• '3$$4$>8
• '>*
• '$
• '/
• Y$
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• Y$4:8
• *
<#O)(
Production & Test JIGs
• <$*Z
• <$Z
• >*Z
• )*$Z
• %)Z
Robotics
• 9.Z
• 9.R
• ,$ $9.
UAV / Professional Drone
• #>4'$O"$(O)*$O$O'% O9O)*$8
• <$4>*$$O98
• !$491(8
• ,$!$
• O)$$
Medical / Lab Equipment
• ,$!$(4<&18
• ,$
• ,.)"2
Education / Hobby
•
• '9.$
• ! NS/
3
Application
Force Control Version mightyZAP USER MANUAL V.2.5
12
4.1. Circuit Connection
*+'.*4<$$#)),8>$$$$4Q!8$0*$
1&'9)$.*$.(<$$#)$0 (
>$$..$>0
TTL/PWM(3Pin Connector Model L(D)xx xxPT x Series)
)*$)#9#)),$($>$$.*$($
[.$>0
)*$($E[E,QA$>$$.9#0
)*$($E[E<R<A)#$>$$.0
RS 485(4Pin Connector Model Lxx xxFx Series)
!$,##:##:#9:0(>$$..$>0
4
Servo Control
PIN NUMBER(COLOR)
PIN NAME
FUNCTION(RS485)
1(Yellow)
:
9
7
2(White)
\
9\
3(Red)
3
>\
4(Black)
R@
>
:
74LVC2G241
Force Control Version mightyZAP USER MANUAL V.2.5
13
※*>$1\1:$0
S()T9T.$$B[C.(0
)*$($E[E,QA$>$$.9#0
)*$($E[E<R<A)#$>$$.
4.2. Communication
*+'$$>$$.#* 0)*
4!$$*+'8. 4*+'$$8
48 Specification
① Communication specification
2 Mode in One4$O!':>*8
*+'>$$$$=*$.>$0
Data Mode
'*$4.1.1@8
Item Spec
Structure <$:$#&'9)
Baud Rate ?;.4$8
Data Size .
Parity :
Stop Bit .
mightyZAP uses half duplex communication, and need to put proper delay time to
prevent communication error.
Recommendable delay time is 5msec for data write, 1 msec for data read.
Otherwise, there can be communication collision and motor failure.
Above delay time is not minimum, but proper delay time for safety.
Feedback Packet
Main Controller
Command Packet
D-
D+
CAUTION!
Force Control Version mightyZAP USER MANUAL V.2.5
14
Pulse Mode
!4$!$8.$]9:$($!^
4649854854$$"#8
※* A9 O, A"#
② Data specification
.$$.$>.*$0'$$*.$Y
.$0
③ Daisy Chain Connection
'( $$2*+'1 *(>*@>$$.
$04$@(>$$. #08
Rod Stroke Data Mode Pulse Mode
Short Stroke 6
Half Stroke ?
Long Stroke (for 27mm) ;;__
Long Stroke (for 30mm) 6
Caution
Unique ID
"**+'(*(($(.>0
)*1($*(*> 0
&($()),$0
9:$1.1.($.$$
(9:$0
'$1$1($*(0>$$.
*>**(:*> .
0
ID=1
ID=
ID=
0
Feedback
Packet(ID=N)
Command
Main Controller
*
468
,
48
458
48
**Factory default range : 27mm / Extendable by user to 30mm by Servo Manager Software.
(for better mechanical stability, 27mm is recommended.)
Force Control Version mightyZAP USER MANUAL V.2.5
15
48 Packet Description
① Command Packet
(0$.$>0
Structure
Element
Index Data Description
0 Start Byte 1 %4#8
1 Start Byte 2 %4#8
2 Start Byte 3 %4#8
3 ID (49A51%A1:$A8
4 SIZE =4!!'@\')9\<"`&!8
5 COMMAND
5+1 FACTOR #1
5+m FACTOR #m EE*
5+N FACTOR #N ,
5+N+1 Check Sum * U%(4,Q"9[%S)"4\+"\!!'@
\')9W\a\')9W@88
Element Description
1. HEADER (3Byte)
=
A#
2. ID (1Byte)
)*2.*(*0
$($480
U 1 >$$ . :$4$8
$04#"*1,8
U51E@E>***(>$$.0
U 4#"81 E% ! 4( $$ (8E
. > 0
3. SIZE (1Byte)
$*%
($E=E 4!!'@\')9\<"`&!8
)*1=($U@..EE\
Start Byte 1
(0xFF)
Start Byte 2
(0xFF)
Start Byte 3
(0xFF) ID SIZE
(0 ~ 255)
COMMAND
(0 ~ 255)
FACTOR
#1
FACTOR
#m
FACTOR
#N CHECKSUM
Force Control Version mightyZAP USER MANUAL V.2.5
16
4. COMMAND (1Byte)
*
5. FACTOR
'$
;0 CHECKSUM
3* * 0)*$
>$$..$>0
* U%(4,Q"9[%S)"4\+"\!!'@\')9W\a\')9W@88
② Feedback Packet
' 1(
. $20
.$>0
Structure
Element
Index Data Description
0 Start Byte 1 %4#8
1 Start Byte 2 %4#8
2 Start Byte 3 %4#8
3 ID (49A51%A1:$A8
4 SIZE =4!!'@\')9\<"`&!8
5 ERROR "
5+1 FACTOR #1
5+m FACTOR #m EE*
5+N FACTOR #N ,
5+N+1 Check Sum * U%(4,Q"9[%S)"4\+"\"999\
')9W\a\')9W@88
Start Byte 1
(0xFF)
Start Byte 2
(0xFF)
Start Byte 3
(0xFF)
ID
SIZE
(0 ~ 255)
ERROR FACTOR
#1
FACTOR
#m
FACTOR
#N CHECKSUM
Function CODE Description
Echo # . 9
Load Data # E'E.
Store Data # E'EEE0)*(0
Send Data # E'EEE
Execution # "#$*.0
Factory Reset #; 9$($
Restart # 9(
Symmetric Store
#? *$$2(0
Force Control Version mightyZAP USER MANUAL V.2.5
17
Element Description
1. HEADER (3Byte)
9=E E0#
2. ID (1Byte)
($.*(
458
3. SIZE (1Byte)
$*%
($E=E 4"999\')9\<"`&!8
)*1=
($U@..EE\
4. ERROR (1Byte)
"*.
Error bit Description LED
RESERVED ? )% ,"
Instruction Error ;
*1"#
>*
1>$$.EE0
Q*
Overload Error
*$.$$>**
#1>$$.EE0
Checksum Error
** ($1
>$$.EE0
!
Range Error
**
!
1
>$$.EE0
%$
Stroke Limit Error
**$>.>
&,, ,
&< ,
1
>$$.EE0
R
Input Voltage Error
**($($
*$.$1>$$.EE0
9
5. FACTOR
'$ . 0
6. CHECKSUM
3* * 0)*$>$$.
.$>0
* U%(4,Q"9[%S)"4\+"\"999\')9W\a\')9W@88
Force Control Version mightyZAP USER MANUAL V.2.5
18
48 Data Map
① Data Memory Map
Memory using data (Non volatile)
.(:($$>**(>O@0
'$$>$$.$($>*9#0
Address Name Description Access Default
4#8 !$@.4,8 ,>.$
. 9
4#8 !$@.4<8 <*.$
. 9
4#8 3> >(0 9 :
4#8 ( 9Q 4#8
4#8 %9 (
9Q 4#8
4#8 9$) 9$ 9Q 4#'8
;4#;8 * ,4,8 ,>.9
$($0 9Q 4#8
?4#?8 * ,4<8 <*.9
$($0 9Q 4#8
4#8 , ,4,8 ,>."#
$($0 9Q 4#;;8
64#68 , ,4<8 <*."#
$($0 9Q 4#"8
4#8 *<*,3$ <*$($ 9Q "
4#8 . 9! . 9Q 4#8
4#8 '$," '$," 9Q ;4#8
;4#8 '$*> '$*>
9Q ;4#8
?4#8 $! $!
9Q "
4#8 "$! "$! 9Q "
64#8 R$4,8 <*.(
! 9Q #
4#;8 R$4<8 ,>.(
! 9Q #
4#8 $.* 4,8 ,>.* 9 4#8
4#68 $.* 4<8
<*.* 9 4#8
;4#'8 $., 4,8 ,>.$ 9 4#8
?4#%8 $., 4<8 <*.$ 9 4#8
4#8 $.
4,8
,>.
9Q 4#8
64#8 $.
4<8
<*.
9Q ?4#?8
4#8 '$9 !('$
9
9Q "
4#8 $9 !($
9
9Q "
4#8 R $R 9Q "
;4#8 R $R
9Q "
Force Control Version mightyZAP USER MANUAL V.2.5
19
?4#8 R ((R 9Q ($
"
4#;8 R $R 9Q ($
"
64#?8 R $R 9Q ($
"
4#8 * $Q*
4,8
,>.9
$>*
9Q 4#8
4#68 * $Q*
4<8
<*.9
$>*
9Q 4#8
4#'8 , $Q*4,8
,>."#
$>*
9Q 4#8
4#%8 , $Q*4<8
<*."#
$>*
9Q 4#8
4#8 !$ $Q*
4,8
,>.$
$>*
9Q 4#8
4#8 !$ $Q*
4<8
<*.$
$>*
9Q 4#8
4#8 4,8 ,>.+
/($
9Q 4#8
4#8 4<8 <*.+
/($
9Q
?4#?8
4#8 R$4,8 ,>.R$ 9Q #
4#8 R$4<8 <*.R$ 9Q #
② Parameter Map
Parameter Using Data (Volatile)
'$$.$($>*(>0
Address Name Description Access Default
4#8 @O O 9Q 4#8
4#8 ," ,"O 9Q 4#8
;4#;8 R$4,8 ,>.R$($
9Q :
?4#?8 R$4<8 <*.R$
($ 9Q :
4#8 4,8 ,>.
($ 9 :
4#8 4<8 <*.
($ 9 :
;4#68 !
94,8
,>.
($ 9 :
?4#68 !
94<8
<*.
($ 9 :
4#68 3$ ($ 9 :
4#68 ) )
R -
4#6;8 !( !( 9 4#8
4#6?8 , , @:($$! 9Q 4#8
4#'8 ,>. 9 :
4#'8 <*.
9 :
Force Control Version mightyZAP USER MANUAL V.2.5
20
48 Data Description
1) Model Number
)*$.!*+'
E9E$Y=$
2) Version of Firmware
* >*$(0
3) ID
*(0*$.:*0
U 1 >$$ . :$4$8
$04#"*1,8
U51E@E>***(>$$.0
U 4#"81 E% ! 4( $$ (8E
. > 0
4) Baud Rate
0 $($?;.
(*$..$*.*(0
[Setting Value]
Value
Baud Rate(bps)
;4#8
4#8 ?;
;4#8 6
4#8 6;
5) Return Delay Time
$(. 04&Ab
8
6) Stroke Limit
$.>* 4'8, 48>***#O0($R$0
49A 568
7) The Highest / Lowest Limit Voltage
!#O!0($($4A038
*(>*?03($A1350;3
*(>*3($A?353
A
B
C
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