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

3

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

4

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

5

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 200N@3.7mm/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

2

6

are simplified. Based on basic link structure, you can refer to below

- fully retracted position]

30mm - fully extended position]

mightyZAP USER MANUAL V.1.02

7

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

2

8

TTL) as well as simple pulse(PWM) control. For the control

of TTL level will be determined according to the level of

: Data signal will be inputted to RxD.

Feedback Packet

Command Packet

packet are