IR Robot mightyZAP User manual

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 
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
  
   
  
   
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02 Basic Info 8
  
  
  
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03 Application 11
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04 Servo Control 12
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  
  
  
   
!   
  
"#$ 
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05 Optional Accessories 31
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!$% 
&%
'()*$
06 Warranty Service 33
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Force Control Version mightyZAP USER MANUAL V.2.5
3
1.1. Introduction
)* **+',(-$*$.(
#/0 
*+',(*(.($($.$1**2$$$
0*+',(.$($*1
$(1.1$&'3$*..0
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[Features]
 Position Control4$'567**$8
 Force Control.. 
 Speed Control.9$ 
 %$:(
 6;<*9$
 <*$! 
 !=!*$% $*48
 "#$$.$>**$
 9.$
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1.2. For Safety
$    .$>   *+' $0 $ $  * .  ($ 
>0 
0 Do NOT press the Rod when the servo is being operated.!.4.8***
$$0 
0 Apply proper input voltage  > $   .0  1 ?053  3 
4,80)*..>***($*3$*0 
0 Lifespan of motor can be varied according to the load and duty cycle and etc. 
8 Use under rated force. 1 ,:):?@4#0 80)*1$
,:):?.#=>*$*@0  )*$>$
1*$$*0 
8 Use under 50% of Duty CycleA$>*($481>$$
. ($  ($   >$$   * >  ( 0 )*1 
*$  B $C >**  *      ($ 0 
*>1D$**$D>*D
$$0&D$=$0
)*$$1*$$0
8 "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo motor.
<>(1 *   .  >* *   .$    (    
*#$.EE ($0
0 Proper wiringA)*$$*>>*>*>*(.
1
Before Use

Force Control Version mightyZAP USER MANUAL V.2.5
4
0<>(1$*:F1$
:>.>*>$0>$$
*.$$0$*>5(
>0
5. Position command within mechanical limit : )* *$ . *$ $ >** (   (
>*$$(*$0! *$*$.>*
F *$ $0      1 . > $  *      0 
$*$$1(>$$.($>>$$
.*(($04($(.1
>$$..08$1 :* *>*
($0
;0 It is strictly banned to use multiple qty actuators for single objective.
*1*’.$*$((
*$$04($
8
?0 Do not TWIST the rod with excessive force when tightening the rod end tip0
$#(>*>*
**4>*$*.#81
$4"$:80
$$>.$>(0
8#*9:>**$!4G80)*
(*
4H8
.$

>*$*
*!
4I80 
8'1$$* >4J8K4L8*K
.**0
8 '/ * $  *   K 4L8  *  $0 %   $  $4 # !
81M#*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” featureN0 
60 Do NOT touch the servo case right after servo operation0*0 
0 Keep away from water, humidity, dust and oil0
0 0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
@)O(.$>#0$0
 $*<**?P,>$>*P0 
 <*$<O*(3.O*(O"$
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Force Control Version mightyZAP USER MANUAL V.2.5
5
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



($4($*>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*$.**..
#*#(($04>$$.$8
Recovery after overload shutdown
*$$$*>1.*$.B9C
.>0%(*($.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>>$$.
($*( 

)*  >  4(O(8 ($      ( >* ( !
>9:&%&%0RE*>'$C$$ 4(8E($"E0 

'**($ 0SEE*
4T8 >**  *   '$ *>0   .  4 .$>8  ($    
EE4($(81*EE*(0(>$$.($
*.EE04U($(OU(8 
Error bit
9""93" ?
" ;
($" 
* " 
9" 
 ," 
3$" 

9.$>#$EE0
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
' 
# # # # # # #;
A >**(VF4#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@C0 
 .($.$**(B!*$$$ C0$**.$>
  ($.$0 4%$> * *> $:$    ?   *+' $0  9  * 
OO6 (F$$ 08
Rated Load
Mechanical Self-Lock
12 / 20N Lineup @)'($.$
31 / 40N Lineup '($.$
50 / 64N Lineup '($.$
80 / 100N Lineup '($.$

1#EE*4T8>***@O04
@1#8 

9.$>#$EE0
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
' 
# # # # # # #
: >**(VF4#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
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


W!.#***.0'$1!*$.
 .> :   :      *>  *
0
2.2. Dimension
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$$>>.04>>>0.0X$'*(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