progressive automations PA-12 User manual

PA-12
Position Control
Communication Protocol
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1. Before Use 3
Introduction 3
Safety 3
Storage 4
Important Note (Overload protection/Force-Off) 5
Table of Contents
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Progressive Automations – Position Control Communication Protocol
4. Actuator Control 10
Circuit Connection 10
Communication 12
Specification 12
Packet Description 14
Data Map 17
Data Description 18
Command Example 24
2. Basic Info 8
Components 8
Dimensions 8
5. Optional Accessories 30
Metal Bracket 30
PC USB Interface 31
Arduino Actuator Tester Shield 32
6. Warranty 33
3. Application 9

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Progressive Automations – Position Control Communication Protocol
1. Before Use
1.1 Introduction
Please carefully read through this manual before using our product for proper operation and to prevent any unexpected
damage.
Progressive Automations’ Micro Precision Actuators have been developed to provide reliable, high-quality linear solutions
in a compact size. Our Micro Precision Actuators can be applied in various fields such as factory automation, medical
devices, robotics, professional UAV, and radio control applications.
Features:
▪Position Control (Positional Accuracy 50~90um – see spec chart of each model)
▪Embedded Drive circuit
▪4096 Step High Resolution
▪High-Performance Coreless Motor
▪Minimal Mechanical Backlash (30um)
▪Excellent Substitute for pneumatic cylinders which do not support position control
1.2. Safety
Please read our safety instructions below for operating our Micro Precision Actuators. Warranty will be void if products
have been abused, altered, or tampered with in any way.
1. DO NOT press the rod when the actuator is being operated. Constantly applying a load that is higher than the rated
force capacity may damage and burn out the motor.
2. Apply proper input voltage. Use a power supply or battery that has an output voltage within the proper range. For
instance, apply 4.0~7.4V for 7.4V input products and 7.0~12V for 12V input products. The motor may burn out when
12V is applied to our 7.4V input products.
3. Product lifespan may vary based on the load applied, duty cycle, etc.
1) Usage below rated force capacity. For instance, the rated force of our PA-12-10645012R is 4.50lbs. Using the
PA-12-10645012R in applications that experience force conditions below 4.50lbs will maximize the product lifespan.
The lower the applied load, the longer the motor lifespan.
2) Usage below 50% Duty Cycle rating: If the motor operates continuously without any interval (rest), the motor will
be overloaded the and overload protection feature will cut off power to the actuator motor. Therefore, it is important to
consider the 50% duty cycle when using in your application. For example, a 20-minute period with a 50% duty cycle
means that the motor must be off for, at least, 10 minutes and on for, no more than, 10 minutes to ensure it does not
overheat. Usage below a 50% duty cycle will optimize lifespan. The lower the duty cycle, the longer the lifespan.
4. Make sure not to damage the actuator motor case. Installing your own brackets to fix the actuator on your system
may risk dissipation and cause overheating.
5. Set position commands within the mechanical limit: The application should allow the actuator rod to have a full
mechanical range of motion to reach the stroke limits without running into physical obstructions. Make sure the
positional commands are made within the application’s mechanical limit. If the positional command is out of the
application’s mechanical limit, the actuator will be overloaded at certain points in time and power will be cut off to
protect the actuator due to the overload protection feature. If overload protection is inactivated by the user, the motor
will not be protected. When considering precise position control, make sure to double-check this step before fully
integrating the actuator.

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Progressive Automations – Position Control Communication Protocol
6. It is strictly banned to use multiple actuators for moving a single
objective. Due to DC motor characteristics, each actuator’s speed can
vary slightly even if they are the same model and have the same goal
position (this may overload one of the actuators).
7. Do not TWIST the rod with excessive force when tightening the
rod end tip.
If you apply an excessive twisting force to the rod when tightening the rod
and tip (while the body is fixed), it may cause damage to the internal part
(plastic rod-insert). Please follow the instructions below to avoid damage.
8. Use the "Overload Protection" feature to protect the actuator and your system from damage. The overload
protection feature is activated from the factory. For other protection settings, set the “Alarm Shutdown” feature according to
your system's condition when necessary.
9. DO NOT touch the actuator case right after actuator operation. It might be hot.
10. Keep away from water, humidity, dust, and oil.
11. Do not use outdoors. PA-12 is only designed for indoor use.
12. Keep out of children’s reach. Keep hands off the actuator motor during operation.
1) Fix the rod-end with the
included M3 spanner (⑤).
This is to prevent the rod (①)
from turning by mistake while
tightening the M3 nut (②).
2) According to your preference, install the socket set screw (③) or rod end tip (④) to the proper position before
tightening.
3) Adjust the angle of the rod end tip (④) to the desired angle. By using a long nose plier (or extra M3 spanner), fix the
position by tightening the M3 nut (②) while the rod end is fixed with the M3 spanner (see above image). This is called
the “double nut” concept that fixes a mechanical position by friction.
1.3. Storage
Extreme conditions may cause malfunction or damage to the product. We do not recommend use/storage in:
▪ Direct sunlight and high temperatures over 70˚C or low temperatures below -20˚C
▪Environment with high humidity
▪Environment with vibration
▪Dusty environment
▪Electromagnetic environment

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Progressive Automations – Position Control Communication Protocol
Important Note : Constant load / Overload
Protection / Force Off Function
The overload protection (Overload shutdown) feature is to prevent motor burnouts and overload conditions which greatly
affect the service life. Please continue reading for the overload protection and use it accordingly.
About the terminology and mechanism of overload protection (Overload Shutdown)
▪The overload protection feature will be activated when the motor exceeds a 50% duty cycle. When the cumulative
operating time is over 30 seconds without rest, the system will shut down.
▪The duty cycle is the ratio of time ON versus time OFF.
▪A 50% duty cycle means that the actuator is only ON for 50% of the time.
▪Motor operating time includes the time in which the motor rotates/moves normally as well as the time in which the
motor draws current during stuck conditions without motor rotation.
Overload condition and shutdown case
For a better understanding, here are some examples of overload conditions where the shutdown will happen after 30
seconds of continuous operation.
▪When the actuator is continuously operated for more than 30 seconds.
▪When the goal position command is made outside the application's mechanical limit range.
▪When a stuck condition is maintained for more than 30 seconds.
▪When the duty cycle is more than 50%. The greater the duty cycle conditions, the faster the shutdown occurs, and the
lower the duty cycle, the later the shutdown occurs.
Overload shutdown disable
The overload shutdown function protects the actuator under overload conditions. In certain applications, there is a need to
operate under severe conditions, even if the overall mechanism protection is more important than the actuator, or even if
the life of the actuator is shortened. For this case, the shutdown function can be disabled through Progressive
Automations’ manager software so that the shutdown does not work during overload conditions.
Recovery after overload shutdown
Since the communication line is still functioning after shutdown, it can be restored to the initial state by the “Restart”
command or by reconnecting power. Be sure to remove the cause of overloading before restarting.
Exception and Cautions
Exception: - Overload shutdown does not work when the actual load is heavier than the rated power even though it is an
overloaded environment. To manage the actuator lifespan, please do not apply loads heavier than the rated force capacity.
Caution 1) When the spring is installed between the application and the actuator, or it is installed in the Z-axis (the
direction of gravity), it applies an external force to the actuator. Under these conditions, the actuator operates slightly but
continues to hold its position. If this condition persists, the actuator may invoke an Overload Shutdown in some cases. To
prevent this, use the Force-Off command while external power is applied.
Caution 2) Each time the overload shutdown is executed, the cause of overload may eventually lead to motor damage.
Therefore, the cause of overload must be removed after the first overload shutdown so future shutdowns do not occur.

Overload Protection Function
Using the overload protection function can protect against motor damage from an overload condition. The overload
protection function is activated from the factory. When it is activated, motor power will be cut off in the case of overload
condition to protect the actuator.
Another method to set overload protection is to use a command packet. You can send the “Store Data” command to the
address (0X12) which is the address for Alarm Shutdown. Set bit 5 (see below) for overload error to "1" (overload
activation) and send the “Store Data” command to the actuator motor. Actuator force will be cut off under overload
conditions if the bit is set at "1”. (1=overload protection ON / 0=OFF)
Refer to the example below for the “Store Data” command.
For proper performance and better lifespan, we recommend using the actuator within its rated load range.
USE WITHIN RATED LOAD
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Progressive Automations – Position Control Communication Protocol
Error
bit
NONE
7
NONE
6
Overload Error
5
NONE
4
NONE
3
NONE
2
NONE
1
Input Voltage Error
0
HEADER ID Size Command
Factor #1
Factor #2
Checksum
Address
Data
0xFFFFFF
0x00
0x04
0xF3
0x12
0x20
0xD6
Caution

For Force-OFF, send 0x00 as a “Store Data” command to the address (0X80) which is the address for Force ON/OFF. (For
Force-ON, send 0x01)
Refer to the example below for the “Store Data” command.
Under Force-OFF status, if user sends the "Goal Position" command, it is not necessary to send Force-ON
packet additionally because the "Goal Position" command already includes the "Force-ON" packet in it.
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Progressive Automations – Position Control Communication Protocol
Force-OFF Function
▪After the actuator moves to the designated position, the operation stops unless there is an external force that causes
the position value to change. If the position value of the actuator is continuously changing due to vibration or external
force, the actuator will be continuously operating without rest to hold the designated position value, this, in turn, affects
the lifespan of the actuator.
▪If the Force-OFF function is properly utilized, the motor power can be cut off to allow the motor to rest while maintaining
its position with mechanical friction (mechanical self-lock function). That can be useful even when it is necessary to
hold the position for a relatively long time after reaching a certain position. Shutting off the power of the motor using the
Force-OFF parameter as an added safety function helps to manage the lifespan of the actuator.
▪Under Force-OFF conditions, communication is still alive while motor power is off, so the actuator will move again when
it gets a new position command without giving the “Force-ON” command.
▪The Force-OFF feature can be available for the actuators having the “mechanical self-lock” feature. Please see the
chart below to see availability. (The chart shows self-lock force of 1.06” stroke PA-12-R only. Refer to the separate
actuator specifications for the self-lock force of 2.20” stroke models.)
Rated Load Mechanical Self-Lock
4.5lbs
Not Available
22.48lbs
Available
HEADER ID Size Command
Factor #1
Factor #2
Checksum
Address
Data
0xFFFFFF
0x00
0x04
0xF3
0x80
0x00
0x88
TIP

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Progressive Automations – Position Control Communication Protocol
2. Basic Information
2.1 Components
2.2 Dimensions
#3 M3 nut can be used to fix the hinge and hinge base. Also, the M3 nut can be used
between the rod-end nut and the rod-end tip as a stopper.
Please refer to the detailed dimensions under the 3D drawing on our website. (progressiveautomations.com → Resources
→ 3D Models)
** For 1.18” stroke actuator, the factory default stroke
range is set at 1.06”. Users may extend it to 1.18” using
our Actuator manager software if necessary. (For better
mechanical stability, 1.06” is recommended.)
[1.06" Model]
[2.20 " Model]

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Progressive Automations – Position Control Communication Protocol
3. Application
Factory Automation
• Replacement for Pneumatic Cylinders
•Real-Time Automatic Width Adjustment Conveyer
• Real-Time Automatic Product Alignment (Up/Down or Left/Right)
• Automatic Valve Control (Oil or Water)
• Automatic Dispensing with Syringe
• Automatic Clamping System
• Fitting or Adjusting Distance
• Pick & Place
• In & out / Extension & Retraction
• On-Off Controls
• Changing Directions of Hexapod/Tripod Movement
Production & Test JIGs
• Hole-Punching Jig
• Hole Inspection Jig
• Switch Inspection Jig
• Touch Panel Inspection Jig
• PC Board Testing Jig
Robotics
• Robot Joints
• Robotic Grippers
• Linear Controls of Surgical Robot
UAV / Professional Drone
• Fixed-Wing (Aileron/Elevator/Throttle/Flap/Air Brake/ Rudder/ Throttle)
• Helicopter (Swash Plate Control/Rudder)
• Multi-copter (Retract, Dropping Device)
• Linear Control Parts for Military products
• Pan/Tilt Camera Control
Medical / Lab Equipment
• Linear Position Control for Medical Devices (HIFU, etc.)
• Camera or Laser Focusing Control
•Laboratory Test Equipment
Education / Hobby
• 3D Printer
• Arduino or Raspberry Pi Control
• Maker's DIY Project

TTL/PWM - 3Pin Connector for PA-12-T
4. Actuator Control
4.1. Circuit Connection
The data structure for communication with the PA-12 on-board microcontroller is half-duplex UART. A full-duplex
communication system allows both devices to transmit and receive data simultaneously. In the case of PA-12, the system
is half-duplex, also known as semi-duplex. This means that the devices can communicate with each other, but not
simultaneously. At any time during communication, one device must transmit while the other one receives, and vice-versa.
For this reason, if you are trying to communicate with a PA-12 through a full-duplex serial COM device, you will need to use
a buffer in between (we recommend implementing a 74LVC2G241 chip).
The direction of the data signal for Tx and Rx of TTL level will be determined according to the level of direction_port as
below.
▪If the level of "direction_port" is LOW: Rx will receive Data.
▪If the level of "direction_port" is HIGH: Tx will transmit Data.
Both GNDs between actuator and controller should be connected as above diagram.
▪For PWM control, connect PWM signal (3~5V) to the Data pin above.
▪When using PWM communication, position control is possible, but feedback data, such as current position value,
cannot be received, and serial daisy chain connection is not supported since data communication is not supported.
▪Feedback data reception and daisy chain connections are possible with TTL or RS-485 communication.
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Progressive Automations – Position Control Communication Protocol
PIN NUMBER(COLOR)
PIN NAME
FUNCTION(RS485)
1(Yellow)
D-
RS485 –
2(White)
D+
RS485 +
3(Red)
VCC
Power +
4(Black)
GND Power -
RS-485 - 4Pin Connector for PA-12-R
If power is supplied from the outside, you can connect to 485 D+, 485 D- only.
You can convert Tx and Rx mode by controlling “Direction_Port” pin in the circuit above.
▪When the level of "direction_port" is LOW: Rx will receive Data.
▪When the level of "direction_port" is HIGH: Tx will transmit Data.
Both GNDs between the actuator and controller should be connected as seen in the diagram.
Our PA-12-R uses RS-485 communication. For RS-485 type actuators, we recommend using the MAX485 chip as a buffer
between a full-duplex controller and the half-duplex PA-12 device. Of course, communication devices that are themselves
half-duplex would have no problem communicating with PA-12 directly. For example, the Allen-Bradley 1769-ASCII PLC
module can communicate with the PA-12 directly.

Item
Spec
Structure
Half-duplex UART
Baud Rate
57600bps(default)
Data Size
8bit
Parity
non-parity
Stop Bit
One bit
Main Controller
Command Packet
Feedback Packet
1. Specification
Caution
Start Point
(0us)
Short Stroke
(900us)
Long Stroke
(2100us)
Period
(4ms~25ms)
The actuator and your main controller will communicate by exchanging data packets. These will be command packets
(main controller to actuator) and Feedback packets (actuator to your main controller)
• The actuator uses half-duplex communication and needs proper delay time to prevent
communication errors.
• The recommendable delay time is 5msec for data writing and 10msec for data reading.
• Otherwise, there can be communication collision and motor failure.
• The delay time above is not the minimum; however, it is recommended for safety.
1) Communication specification
• 2 in One Mode (Pulse / Data Mode Auto-Switching)
The PA-12-T will automatically recognize the input signal between data mode (TTL) and pulse mode (PWM).
• Data Mode (TTL or RS-485)
Asynchronous Serial communication (8 bit, 1 Stop bit, Non-Parity)
4.2. Communication
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Progressive Automations – Position Control Communication Protocol

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Progressive Automations – Position Control Communication Protocol
Rod Stroke Data Mode
(TTL/RS485)
Pulse Mode
(PWM)
Short Stroke (Max Retracting stroke)
0
900us
Half Stroke
2047
1500us
Long Stroke (Max Extending stroke)
4095
2100us
2) Data specification
3) Daisy-Chain Connection
The data range is basically determined as seen below in both Data and Pulse modes.
When a Command Packet is sent to multiple actuators, only the actuator with ID=N will respond/operate. (Only ID=N
actuator will send Feedback Packet and execute the command.)
**The long-stroke limit for 1.18” stroke products is set to 1.06” from the factory and users are able to extend it to
1.18” if necessary. The data value of 1.06” is 3686. (It is recommended to use 1.06” for better mechanical
stability related to lateral load)
• Factory default ID is 0 and the users need to assign ID on the Manager software or by API.
• The PWM mode does not support a daisy chain connection nor feedback data option.
Caution
Unique ID
• Each actuator must have an individual ID to prevent interference between the same IDs. Therefore,
you need to set individual IDs for each actuator in the network node.
• Users may assign 253 different IDs and connect 253pcs actuators in serial via TTL protocol. For
RS-485 protocol, 253 IDs can be assigned, but the available serial connection is up to 32 pcs of
actuator motors due to RS-485 node regulation.
• As the factory default ID is 0, please assign different individual IDs for each actuator from 1~253 for
daisy chain connection.

Index
Data
Descrip�on
0
Start Byte 1
Start Byte 1 (0xFF)
1
Start Byte 2
Start Byte 2 (0xFF)
2
Start Byte 3
Start Byte 3 (0xFF)
3
ID
Actuator ID (Range: 0 ~ 253, Broadcast ID: 254)
4
SIZE
Packet Size (COMMAND+FACTOR+CHECKSUM)
5
COMMAND
Instruc�on
5+1
FACTOR #1
First Parameter
5+m
FACTOR #m
mth Parameter
5+N
FACTOR #N
Last Parameter
5
+N+1 Check Sum
Check Sum = 0xFF - (LOWER_BYTE (ID + SIZE + COMMAND +
FACTOR#1 + … + FACTOR#N))
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
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Progressive Automations – Position Control Communication Protocol
2. Packet Description
1) COMMAND PACKET
▪Structure
▪Element
▪Element Description
1. HEADER (3Byte)
• Data indicating the start of transmission: 0xFFFFFF
2. ID (1Byte)
• The ID is a unique number used to address each actuator in a daisy chain connection.
• Factory default ID value is 0.
• In case of ID = 0 ~253, only the actuator with the reference ID will be operated.
• In case of ID = 254 (0xFE), "Broadcasting Mode” will be activated which operates all actuators at once and Feedback
Packet will not work.
3. SIZE (1Byte)
• Packet length in Byte unit.
• Data counting value after "Size" data (COMMAND+FACTOR+CHECKSUM).
• That is, Size value = Number of byte of "Factor" + 2
The structure and elements for Command Packets to operate your actuator are found below.

Index
Data
Descrip�on
0
Start Byte 1
Start Byte 1 (0xFF)
1
Start Byte 2
Start Byte 2 (0xFF)
2
Start Byte 3
Start Byte 3 (0xFF)
3
ID
Actuator ID (Range: 0 ~ 253, Broadcast ID: 254)
4
SIZE
Packet Size (COMMAND+FACTOR+CHECKSUM)
Start Byte 1
(0xFF)
Start Byte 2
(0xFF)
Start Byte 3
(0xFF)ID SIZE
(0 ~255)ERROR FACTOR
#1
FACTOR
#m
FACTOR
#N CHECKSUM
Func�on
CODE
Descrip�on
Echo
0xF1
Feedback Packet Recep�on
Load Data
0xF2
Send "Address" and get feedback of Data
Store Data
0xF3
Send "Address" and "Data". Then Save.
Send Data
0xF4
Send "Address" and "Data" for temporary storage
Execu�on
0xF5
Execute temporarily stored data that is made by SendData.
Factory Reset
0xF6
Reset to factory default parameter value
Restart
0xF8
Restart actuator system
Symmetric Store
0x73
Store data in the same address of mul�ple qty actuators.
5
ERROR
Error Code
5+1
FACTOR #1
First Parameter
5+m
FACTOR #m
mth Parameter
5+N
FACTOR #N
Last Parameter
5
+N+1 Check Sum
Check Sum = 0xFF - (LOWER_BYTE (ID + SIZE + ERROR + FACTOR#1 +
… + FACTOR#N))
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Progressive Automations – Position Control Communication Protocol
2) FEEDBACK PACKET
▪Structure
▪Element
• Command codes define the purpose of a packet.
4. COMMAND (1Byte)
• Additional packet factor according to Command.
5. FACTOR
Verification data to check omission and any changes of packet data. The interaction formula will be:
• Checksum = Binarylnvert (LOWER_BYTE (ID + SIZE + COMMAND + FACTOR#1 + ... + FACTOR#N))
• LOWER_BYTE = Only the lower 1 byte is taken among the summed data values.
= Divide the summed data value by 0x100 and take only the remainder.
• Here is formula for above:
LOWER_BYTE (ID + SIZE + COMMAND + FACTOR#1 + ... + FACTOR#N) == (ID + SIZE + COMMAND + FACTOR#1
+ ... + FACTOR#N)% 0x100
After reception of Command Packet, the actuator sends Feedback Packets including the requested information. Its
structure is as shown below.
6. CHECKSUM

Error
bit
Description
LED
N
one 7 TBD None
N
one 6 TBD None
Ov
erload Error 5 In case the current load cannot be controlled with the designated
maximum force, it will be set as "1".
Red Blink
N
one 4 TBD None
N
one 3 TBD None
N
one 1 TBD None
I
nput Voltage Error 0
In case the input voltage is out of the operating voltage range
designated in the control table, it will be set as "1".
Red On
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Progressive Automations – Position Control Communication Protocol
▪Element Description
1. HEADER (3Byte)
• Data indicating the start of transmission: 0xFFFFFF
• Individual ID number for each actuator (1 ~253).
2. ID (1Byte)
• Error status during operation for each bit
4. HARDWARE ERROR (1Byte)
• Additional Packet factor according to Feedback Data.
5. FACTOR
Verification data to check omission and any changes of packet data. The interaction formula will be:
• Checksum = 0xFF - (LOWER_BYTE (ID + SIZE + ERROR + FACTOR#1 + … + FACTOR#N))
• LOWER_BYTE = Only the lower 1 byte is taken among the summed data values.
= Divide the summed data value by 0x100 and take only the remainder.
• Here is the formula for above.
LOWER_BYTE (ID + SIZE + ERROR+ FACTOR#1 + … + FACTOR#N) == (ID + SIZE + ERROR+ FACTOR#1 + … +
FACTOR#N)% 0x100
6. CHECKSUM
3. SIZE (1Byte)
• Packet length in Byte unit.
• Data counting value after "Size" data (COMMAND+FACTOR+CHECKSUM).
• That is, Size value = Number of byte of "Factor" + 2

0 (0x00)
Address Name Description Access Default
Model Number (L)
Lower byte of M odel
Number
R
1 (0x01) Model Number (H) High byte of M odel Number R
2 (0x02)
Version of Firmware
Firmware version info
R
-
3 (0x03)
ID
Actuator ID
RW
0 (0x00)
4 (0x04)
Baud Rate
Communication speed
RW
32 (0x20)
6 (0x06) Short Stroke Limit (L)
Lower byte of Short Stroke
Limit
RW 0 (0x00)
7 (0x07) Short Stroke Limit (H)
High byte of Short Stroke
Limit
RW 0 (0x00)
8 (0x08) Long Stroke Limit (L)
Lower byte of Long Stroke
Limit
RW 102 (0x66)
9 (0x09) Long Stroke Limit (H)
High byte of Long Stroke
Limit
RW 14 (0x0E)
12 (0x0C)
the Lowest Limit Voltage
Lowest Voltage Limit
R
Each SPEC
13 (0x0D)
the Highest Limit Voltage
Highest Voltage Limit
RW
Each SPEC
14 (0x0E) Motor Operating Rate (L)
Lower byte of Motor
Operating Rate
RW 255 (0xFF)
15 (0x0F) Motor Operating Rate (H)
High byte of Motor
Operating Rate
RW 3 (0x03)
16 (0x10)
Feedback Return Mode
Feedback Return Mode
RW
1 (0x01)
17 (0x11)
Alarm LED
Alarm LED Function
RW
33 (0x21)
18 (0x12)
Alarm Shutdown
Alarm Shutdown Function
RW
33 (0x21)
19 (0x13)
Start Compliance Margin
Start Compliance Margin
RW
Each SPEC
20 (0x14)
End Compliance Margin
End Compliance Margin
RW
Each SPEC
24 (0x18) Calibration Short Stroke (L) Lower byte of Calibration
Short Stroke
R 0 (0x00)
25 (0x19) Calibration Short Stroke (H) High byte of Calibration
Short Stroke
R 0 (0x00)
26 (0x1A) Calibration Long Stroke (L) Lower byte of Calibration
Long Stroke
R 255 (0xFF)
27 (0x1B) Calibration Long Stroke (H) High byte of Calibration
Long Stroke
R 15 (0x0F)
33 (0x21) Acceleration Ratio Moving Acceleration Ratio RW Each SPEC
34 (0x22) Deceleration Ratio Moving Deceleration Ratio RW Each SPEC
37 (0x25)
Position D Gain
Derivative Gain
RW
Each SPEC
38 (0x26)
Position I Gain
Integral Gain
RW
Each SPEC
39 (0x27)
Position P Gain
Proportional Gain
RW
Each SPEC
46 (0x2E)
Min Posi�on Calibra�on
Min Posi�on Value Trim
RW
Each SPEC
47 (0x2F)
Max Posi�on Calibra�on
Max Posi�on Value Trim
RW
Each SPEC
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Progressive Automations – Position Control Communication Protocol
3) DATA MAP
▪Memory using data (Non-volatile)
1. Data Memory Map
• Data will be saved in a non-volatile memory which maintains data even after power loss.
• All data will be reset to the default value when factory Reset command is executed.

Address
Name
Description
Access
Default
128 (0x80)
Force ON/OFF Force On/Off
RW
0 (0x00)
129 (0x81)
LED LED On/Off
RW
0 (0x00)
134(0x86) Goal Position (L)
Lower byte of Goal
Position Value
RW -
135 (0x87) Goal Position (H)
High byte of Goal Position
Value
RW -
140 (0x8C) Present Position (L) Lower byte of Present
Position Value
R -
141(0x8D) Present Position (H) High byte of Present
Position Value
R -
144 (0x90)
Present Motor
Operating Rate (L)
Lower byte of Present
Motor Operating Rate
R -
145 (0x91)
Present Motor
Operating Rate (H)
High byte of Present
Motor Operating Rate
R -
146 (0x92)
Present Voltage Present Voltage
R
-
150 (0x96)
Moving Moving Status
R
0 (0x00)
4) DATA DESCRIPTION
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Progressive Automations – Position Control Communication Protocol
▪Parameter Using Data (Volatile)
2. Parameter Map
Non-Volatile Memory
1. Model Number
Model number refers to PA's actuator model. For example, PA-12-10645012R.
2. Version of Firmware
Shows the current firmware version of the selected actuator.
3. ID [0~254 / Default: 0]
ID to discriminate each actuator. Different IDs should be assigned in Daisy-Chain system.
• In case of ID = 0 ~253, only the actuator with the reference ID will be operated.
• In case of ID = 254 (0xFE), "Broadcasting Mode” will be activated which operates all actuators at once and
Feedback Packet will not work.
4. Baud Rate
• Refers to the communication speed. The default value is 57600bps.
• Actuator should always be rebooted if the baud rate is updated.
• All data will be reset to default after power loss.
ID is a non-volatile memory area. If you change the data, communication may stop for a short time during saving
process. Therefore, please be careful of frequent value changes during operation.

Value Baud Rate (bps)
16 (0x10)
115200
32 (0x20) 57600
48 (0x30)
38600
64 (0x40)
19200
128 (0x80)
9600
Input Volt
Lowest Voltage
Highest Voltage
7.4V Model s
6 [V]
8.9[V]
12V Model s
7[V]
13[V]
Mode
Feedback Packet Return or NOT
0
DO NOT send FeedbackPacket for all Commands (except for Echo command)
1
Sending FeedbackPacket only for Load Data Command.
2
Sending FeedbackPacket for all Commands.
A
B
C
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Progressive Automations – Position Control Communication Protocol
[Setting Value]
5. Stroke Limit [0~4095]
Stroke limit refers to the maximum and minimum value of the Goal Position between Short Stroke (A) and Long Stroke (C).
If the Goal Position value is smaller than the Short Stroke Limit value or greater than the Long Stroke Limit value, the Goal
Position value is replaced with the Stroke Limit value.
6. The Highest / Lowest Limit Voltage
Refers to the maximum and minimum values for the actuator input voltage (unit: 0.1V)
Depending on the input voltage, the speed and force of an actuator may vary.
For more details, please refer to the datasheet of each model.
7. Motor Operating Rate [0~1023 / Default: 1023]
Motor Operating Rate refers to the maximum operating rate of the motor and the maximum PWM value supplied to the
motor. If it is set to less than 400, the motor may not operate. Please note that changing the Motor Operating Rate also
changes the speed and stall force.
8. Feedback Return Mode
After receiving a Command Packet, the actuator will be in the Feedback Packet Return mode.
Motor Operating Rate is a non-volatile memory area. If you change the data, communication may stop for a
short time during the saving process. Therefore, please be careful of frequent value changes during operation.
Baud Rate is a non-volatile memory area. If you change the data,
communication may stop for a short time during the saving process.
Therefore, please be careful of frequent value changes during operation.
Non-volatile memory area. If you change the data, communication may
stop for a short time during the saving process. Therefore, please be
careful of frequent value changes during operation
38600bps is not available in older firmware, such as version 1.5 or lower.
Under Broadcast ID (0xFE) mode, Feedback Packets will NOT be sent regardless of the Feedback Return
Mode values.
TIP

Error
bit
LED Indicate
Overload Error
5
Red Blink
Input Voltage Error
0
Red
Error
bit
Overload Error
5
Input Voltage Error
0
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Progressive Automations – Position Control Communication Protocol
9. Alarm LED
If the concerned bit is set as "1" when an error occurs, the error LED indication will be activated. (1: activate, 0: deactivate)
10. Alarm Shutdown
Force will be OFF if the concerned bit is set as "1" when an error occurs. (1: activate, 0: deactivate)
11. Stroke Compliance Margin
Start Compliance Margin (Recommended margin value: 7)
• Refers to the minimum margin value for the actuator to start moving position.
• For example, if the compliance margin is 7 and the current position value is 400, the actuator will start moving when a
positional value between 407 (400+7) and 393 (400-7) is set.
• Likewise, when a positional change occurs by more than +/-7 (out of 393~407) from the present position value due to
physical external pressure or electrical noise, the motor will start moving to compensate for the position.
• For this reason, a larger value for compliance margin means more stable operation without jittering even in an
environment where the external pressure, electrical noise, or clearance increases, however, the sensitivity to drive to
the desired position may be reduced. Basically, increasing this value increases durability while reducing this value
increases precision.
• This value must be equal to or greater than the "End compliance margin value" as shown below (setting it to a lower
value may cause an error).
In case of an Input Voltage Error, the alarm is immediately cleared when the error is resolved.
In case of an Overload Error, the alarm will not be cleared even after the overload condition is resolved. Rebooting the
power or restarting the system can clear an Overload Error.
Alarm LED is a non-volatile memory area. If you change the data, communication may stop for a short time
during saving process. Therefore, please be careful of frequent value changes during operation.
Alarm Shutdown is a non-volatile memory area. If you change the data, communication may stop for a short
time during the saving process. Therefore, please be careful of frequent value changes during operation.
TIP Overload Error / Input Voltage Error shutdown feature is activated from
the factory to protect the motor. These can be disabled by the user
using our PA-12 manager software, but please consider carefully.