IR Robot MightyZAP Bedienungsanleitung

mightyZAP User Manual

(12Lf#Force Control Lineup / MODBUS Protocol)

Robust Mini Linear Servo Actuator ------

!!"#$ %&'(&) #$ *"+ ,+,#-&*+, %&'(&) ./0 12Lf# FORCE control version actuator 1"#-" $(22/0*

./0-+/$2++, -/'*0/) &$ 1+)) &$ 2/$#*#/' -/'*0/).

!345678 9!7 :0/*/-/) #$ &;&#)&<)+ ./0 =/0-+ -/'*0/) )#'+(2 (98-485 &', !!>) /')?.

!!"#$ %&'(&) #$ ./0 *"+ 345678 20/*/-/) ($+0$ /. *"+ =/0-+ -/'*0/) )#'+(2 &-*(&*/0$ 1"/ "&;+

*"+ %/,+) '(%<+0 1"#-" $*&0*$ 1#*" “12>.”.

!=/0 *"+ ($+0$ 1"/ '++,$ @9 9/</* /1' 20/*/-/) 1#*" *"+ =/0-+ -/'*0/) &-*(&*/0$, 2)+&$+ 0+.+0 */

*"+ $+2&0&*+ “=/0-+ -/'*0/)/@9 :0/*/-/)” &-*(&*/0 %&'(&).

!=/0 *"+ ($+0$ 1"/ "&;+ *"+ &-*(&*/0 1"#-" $*&0*$ 1#*" 5/0 >, 2)+&$+ &)$/ 0+.+0 */ *"+ $+2&0&*+

“:/$#*#/' -/'*0/)” &-*(&*/0 %&'(&).

Check your product group!

Does your model number start with 12Lf-?

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

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INDEX

1. Before Use.............................................................................. 3

1.1 Introduction........................................................................................................3

1.2 For Safety.............................................................................................................3

1.3 For Storage ..........................................................................................................4

1.4 Constant Load / Overload Protection ...........................................................5

1.5 Force Off Function .............................................................................................7

2. Basic Information ................................................................ 8

2.1 Component ..........................................................................................................8

2.2 Dimension ...........................................................................................................8

2.3 Specification .....................................................................................................10

3. Applications......................................................................... 12

4. Servo Control....................................................................... 13

4.1 Circuit Connection...........................................................................................13

4.2 Communication ................................................................................................14

4.2.1 Specification ............................................................................................................................................... 14

4.2.2 Packet Description................................................................................................................................... 16

4.2.3 Data Map...................................................................................................................................................... 18

4.2.4 Data Description....................................................................................................................................... 19

4.2.5 Command Example Packet................................................................................................................... 26

5. Optional Accessories ......................................................... 27

6. Warranty .............................................................................. 29

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

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1. Before Use

1.1 Introduction

!"&'A ?/( ./0 2(0-"&$#'B %#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$! :)+&$+ 2+0($+ *"#$ %&'(&) <+./0+ ($+ */

20+;+'* &'? ('+E2+-*+, ,&%&B+ /. 20/,(-* /0 $+0#/($ #'F(0? /. ($+0$.

%#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$ "&;+ <++' ,+;+)/2+, */ 20/;#,+ 0+)#&<)+, "#B" G(&)#*? )#'+&0 $/)(*#/'

#' -/%2&-* $2&-+. %#B"*?CD: %#'# >#'+&0 $+0;/ %/*/0$ -&' <+ &22)#+, #' ;&0#/($ .#+),$ $(-" &$ .&-*/0?

&(*/%&*#/', %+,#-&) ,+;#-+$, 0/</*#-$, 20/.+$$#/'&) 7DH &',0&,#/ -/'*0/) "/<<?.

[Features]

§ Position Control (7'#I,#0+-*#/'&)J:/$#*#/'&) D--(0&-? 30K60(% – $++ $2+- -"&0* /. +&-" %/,+))

§ Stall#Force Control <&$+, /' L(00+'* .++,<&-A

§ Speed Control <? 1024 9+$/)(*#/'

§ M%<+,,+, 50#;+ -#0-(#*

§ 4096 8*+2 N#B" 9+$/)(*#/'

§ N#B" :+0./0%&'-+ L/0+)+$$ 3/*/0

§ 3#'#%#O+, 3+-"&'#-&) 6&-A)&$" (30(%)

§ ME-+))+'* 8(<$*#*(*+ ./0 2'+(%&*#- -?)#',+0 1"#-" ,/+$ '/* $(22/0* 2/$#*#/' -/'*0/)

§ 9+&$/'&<)+ L/$*

1.2 For Safety

:)+&$+ 2+0($+ $&.+*? #'$*0(-*#/' <+)/1 */ ($+ %#B"*?CD: $&.+)?. :)+&$+ A#',)? '/*+ *"&* &<($+ %&? #';&)#,&*+

?/(0 1&00&'*?.

1. Do NOT press the Rod when the servo is being operated.3/*/0 %&? <+ ,&%&B+,(<(0'*) #. "#B"+0

./0-+ *"&' 0&*+, ./0-+ #$ &22)#+, -/'$#$*+'*)?.

2. Apply proper input voltage ($#'B 2/1+0 $(22)? /0 -/00+-* <&**+0?. =/0 #'$*&'-+, 7.0K12H./0 12H#'2(*

20/,(-*(12>. $+0#+$). !"+ %/*/0 %&? <+ <(0'* 1"+' "#B"+0 ;/)*&B+ *"&' 13H#$ &22)#+, */ *"+ &-*(&*/0.

3. Lifespan of motor can be varied according to the load and duty cycle and etc.

1) Use under rated force. !"# $%&'(%)*,#('*+ ,"#)* ", 12-,-20./-27 $& 200((11#"2. 234). /5(' $&, 6$,*&1(% ", 12-,-

20./-27 )(% 7* 8(2$8$9*+ :5*% $' $& ;&*+ 6*&& '5(% 200,"#)* )"%+$'$"%. /5* 6":*# 6"(+ )"81(#$%4 '" #('*+

,"#)*, '5* 6"%4*# 6$,*&1(% ", '5* 8"'"#.

2) Use under 50% of Duty Cycle : <, => 8"'"# "1*#('*& )"%'$%;";&6? :$'5";' (%? $%'*#@(6 (#*&'), 8"'"# :$66 7*

"@*#6"(+*+ (%+ "@*#6"(+ 1#"'*)'$"% ,*(';#* :$66 );' ",, '5* 1":*# ", &*#@" 8"'"#. /5*#*,"#*, ;&*# &5";6+

)"%&$+*# “=;'? )?)6*” :5$)5 8*(%& '5* 1*#)*%'(4* ", "1*#('$%4 '$8* (4($%&' $%'*#@(6 '$8*. <% "'5*# :"#+&, 50%

+;'? )?)6* 8*(%& '5(' 8"'"# &5";6+ #*&' 50% ", '$8* :5*% 8"'"# "1*#('* +;#$%4 50% ", '$8* '" 8(%(4*

8"'"# 6$,*&1(% 8"#* *,,$)$*%'6?. A&* ;%+*# 50% ", +;'? )?)6* ,"# "1'$8$9*+ 6$,*&1(%. /5* 6*&& +;'? )?)6*, '5*

6"%4*# 6$,*&1(%.

3) "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo motor.

B":*@*#, '5$& ,*(';#* )(% 7* ;&*+ :5*% '5*#* $& %" 1#"76*8 $% ?";# &?&'*8 *@*% $, #"+ 1"&$'$"% $& )5(%4*+

+;* '" *2'*#%(6 ,"#)* 7*)(;&* ","#)* ",," 8(3*& &*#@" ,"#)* $& #*6*(&*+.

4. Proper wiring: !"+0+ #$ )#**)+ -"&'-+ /. #'-/00+-* 1#0#'B 1"+' ($#'B 1#0+ "&0'+$$ 1#*" -/''+-*/0

20/;#,+, <? /(0 .&-*/0?. N/1+;+0, #. ($+0$ ($+ $/),+0#'B /0 &*"#0,-2&0*? -/''+-*/0 &--/0,#'B */ ($+0’$

,+$#0+, 2)+&$+ 2&? &**+'*#/' */ %#$-1#0#'B <+*1++' *"+ -/%%('#-&*#/' &', 2/1+0 )#'+$. @'-/00+-*

1#0#'B 0+$()*$ #' .&*&) ,&%&B+ */ *"+ :L </&0, /0 -+0*&#' +)+-*0#-&) -/%2/'+'*$. :)+&$+ 0+.+0 */ *"+

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

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1#0#'B 2#' %&2 /' 4.1 L#0-(#*J-/''+-*#/'J2&B+ /.J*"+J($+0J%&'(&)J*/ 20+;+'* #'-/00+-* 1#0#'B.

5. Position command within mechanical limit : !"+0+ $"/(), <+ %+-"&'#-&) )#%#* 1"#-" $+0;/ 0/, -&'

%/;+ 1"+' ($+0 #'$*&)) $+0;/ %/*/0 #' *"+#0 &22)#-&*#/'. 3&A+ $(0+ *"&* 2/$#*#/'&) -/%%&', $"/(), <+

%&,+ 1#*"#' ($+0’$%+-"&'#-&) )#%#*. @* #$ *// -/%%/' */ %+'*#/', <(* 1+ -/(), $++ *"#$ %#$*&A+ .0/%

*#%+ */ *#%+. @. 2/$#*#/'&) -/%%&', #$ /(* /. %+-"&'#-&) )#%#*, $+0;/ 1#)) <+ /;+0)/&,+, &* -+0*&#' 2/#'*

/. *#%+ &', 2/1+0 1#)) <+ -(* /.. */ 20/*+-* *"+ $+0;/ ,(+ */ /;+0)/&, 20/*+-*#/' .+&*(0+. (#. /;+0)/&,

20/*+-*#/' #$ #'&-*#;&*+, <? ($+0, %/*/0 1#)) <+ '/* <+ 20/*+-*+,.) L/'$#,+0#'B 20+-#$+ 2/$#*#/' -/'*0/),

%&A+ $(0+ */ 0+--"+-A *"#$ %&**+0 1"+' $+0;/ #$ &22)#+,.

6. It is strictly banned to use multiple qty actuators for single

objective.5(+ */ 5L %/*/0 -"&0&-*+0#$*#-, +&-" &-*(&*/0’$$2++, -&' <+

$)#B"*)? ;&0#+, +;+' #. *"+? &0+ $&%+ %/,+) &', B/&) 2/$#*#/' #$ $&%+.

(%&? -&($+ /;+0)/&, */ /'+ /. &-*(&*/0)

7. Do not TWIST the rod with excessive force when tightening the rod

end tip.

@. ?/( &22)? +E-+$$#;+ *1#$*#'B ./0-+ */ *"+ 0/, 1"+' *#B"*+'#'B *"+ 0/,

&', *#2 (1"#)+ *"+ </,? #$ .#E+,), #* %&? -&($+ ,&%&B+ */ #'*+0'&) 2&0*

(M'B#'++0#'B :)&$*#- 0/,-

#'$+0*). =/))/1 <+)/1

#'$*0(-*#/' */ &;/#,

,&%&B+.

1) =#E *"+ 9/,-+', 1#*" *"+

#'-)(,+, 33 $2&''+0 (

⑤

!"#$ #$ */ 20+;+'* *"+ 0/, (

①

) .0/% *(0'#'B <&,)? &',

,&%&B+ 1"#)+ *#B"*+'#'B *"+ 33 '(* (

②

2) D--/0,#'B */ 20+.+0+'-+, #'$*&)) *"+ $/-A+* $+* $-0+1 (

③

) /0 0/, +', *#2 (

④

) */ *"+ 20/2+0

2/$#*#/'#'B <+./0+ "&0, *#B"*+'#'B.

3) D,F($* *"+ &'B)+ /. *"+ 0/, +', *#2 (

④

) */ *"+ ,+$#0+, &'B)+. 6? ($#'B &)/'B '/$+ 2)#+0(/0 +E*0&

33 $2&''+0), .#E *"+ 2/$#*#/' <? *#B"*+'#'B *"+ 33 '(* (

②

) 1"#)+ 0/, +', #$ .#E+, 1#*" 33

$2&''+0($++ <+)/1 #%&B+.). !"#$ #$ “,/(<)+ '(*$” -/'-+2* 1"#-" .#E+$ %+-"&'#-&) 2/$#*#/' <?

.0#-*#/'.

8. Use properly "Overload protection" feature to protect the servo and your system from damage.

4;+0)/&, 20/*+-*#/' .+&*(0+ #$ &-*#;&*+, .0/% *"+ .&-*/0?, &', ./0 /*"+0 20/*+-*#/' $+**#'B, #. '+-+$$&0?,

$+* “Alarm shutdown” feature &--/0,#'B */ ?/(0 $?$*+%'$-/',#*#/'.

9. Do NOT touch the servo case right after servo operation. @* %&? "/*.

10. Keep away from water, humidity, dust and oil.

11. @* #$ ,+$#B'+, ./0 #',//0 2(02/$+. 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

5/ P4! $*/0+/($+ $+0;/ %/*/0 (',+0 <+)/1 +E*0+%+ -/',#*#/'. @* %&? -&($+ %&).('-*#/' /0 ,&%&B+ /.

20/,(-*.

§ 5#0+-* )#B"* &', N#B" *+%2+0&*(0+ %/0+ *"&' 70 ˚L/0 >/1 *+%2+0&*(0+ )/1+0 *"&' %#'($ 20˚L.

§ N#B")? N(%#, $2&-+ / 82&-+ "&;#'B H#<0&*#'B -/',#*#/' / 82&-+ "&;#'B 5($* / 82&-+ -&($#'B

M)+-*0/$*&*#-

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1.4 Constant Load / Overload Protection

4;+0)/&, 20/*+-*#/' (4;+0)/&, $"(*,/1') .+&*(0+ #$ */ 20+;+'* /;+0)/&, -/',#*#/' 1"#-" B0+&*)? &..+-* *"+

$+0;#-+ )#.+ &', */ %/*/0 <(0'/(*. :)+&$+ 0+&, *"+ ./))/1#'B ./0 20/2+0 20/*+-*#/' &', ($+ #* &--/0,#'B */ *"+

-/',#*#/'$.

About mechanism of overload protection (overload shutdown) and terminology

! !"+ /;+0)/&, 20/*+-*#/' %+-"&'#$% /. *"+ =/0-+ L/'*0/) ;+0$#/' ($+$ &-/%<#'&*#/' /. -(00+'*

&--(%()&*#/' &', /2+0&*#/' *#%+ &--(%()&*#/'.

- @' -&$+ /. -/'*#'(/($ /2+0&*#/' D! 0&*+, )/&,, 8"(*,/1' /--(0$ &.*+0 &</(* 30 $+- &$ *"+

&--(%()&*+, -(00+'* ;&)(+.

- @' -&$+ /. -/'*#'(/($ /2+0&*#/' 7P5M9 0&*+, )/&,, 8"(*,/1' /--(0$ &.*+0 )/'B+0 *"&' 30 $+-, <(*

8"(*,/1' 1#)) <+ %&,+ 1#*"#' %&E. 180 $+- +;+' &* *"+ )/1+$* )/&,.

- @' -&$+ /. -/'*#'(/($ /2+0&*#/' D64HM 0&*+, )/&,, 8"(*,/1' /--(0$ $"/0*+0 *"&' 30 $+-/',$ ,(+ */

*"+ "#B" &%/('* /. -(00+'* &--(%()&*#/'. =/0 +E&%2)+, $"(*,/1' /--(0$ 1#*"#' 2 $+-/',$ 1"+'

*"+ %&E#%(% -(00+'* /. 1.6D.)/1$.

! 5(*? -?-)+ #$ *"+ 0&*#/ /. *"+ *#%+ 1"#-" %/*/0 #$ &-*(&))? ,0#;+' &B&#'$* *"+ *#%+ /. %/*/0 0+$*.

! 5(*? -?-)+ 50% %+&'$ *"&* 50% /. *"+ *#%+ $"/(), <+ 0+$*/0+, #. *"+ %/*/0 0('$ 50% /. *"+ *#%+.

! 3/*/0 /2+0&*#'B *#%+ #'-)(,+$ *"+ *#%+ 1"#-" *"+ %/*/0 0/*&*+$/%/;+$ '/0%&))? &$ 1+)) &$ *"+ *#%+

1"#-" %/*/0 ,0&1$ -(00+'* <? $*(-A -/',#*#/' 1#*"/(* %/*/0 0/*&*#'B.

Overload shutdown Disable

!"+ /;+0)/&, $"(*,/1' .('-*#/' 20/*+-*$ *"+ $+0;/ &-*(&*/0 (',+0 /;+0)/&, -/',#*#/'$. 5+2+',#'B /' *"+

&22)#-&*#/', *"+0+ &0+ &22)#-&*#/'$ *"&* '++, */ <+ /2+0&*+, (',+0 $+;+0+ -/',#*#/'$, +;+' #. *"+ /;+0&))

%+-"&'#$% 20/*+-*#/' #$ %/0+ #%2/0*&'* *"&' *"+ $+0;/ &-*(&*/0, /0 +;+' #. *"+ )#.+ /. *"+ $+0;/ &-*(&*/0 #$

$"/0*+'+,. =/0 *"#$ -&$+, $"(*,/1' .('-*#/' -&' <+ ,#$&<)+, *"0/(B" %#B"*CD: $+0;/ %&'&B+0 $/.*1&0+ $/ *"&*

$"(*,/1' ,/+$ '/* 1/0A (',+0 /;+0)/&, $#*(&*#/'.N/1+;+0, #' *"+ ./0-+ -/'*0/) ;+0$#/', *"+ B/&) -(00+'* -&'

<+ $+* $/ *"&* *"+ %/*/0 -&' <+ 20/*+-*+, <? '/* +E-++,#'B *"+ $+* %&E#%(% -(00+'* +;+' #' &' /;+0)/&,

$#*(&*#/'. (82+-#.#- ,&*& 1#)) <+ &''/('-+, )&*+0)

Recovery after overload shutdown

8#'-+ *"+ -/%%('#-&*#/' )#'+ #$ $*#)) .('-*#/'#'B &.*+0 $"(*,/1', #* -&' <+ 0+$*/0+, */ *"+ #'#*#&) $*&*+ <? “9+$*&0*”

-/%%&', /0 <? 0+-/''+-*#'B 2/1+0. 6+ $(0+ */ 0+%/;+ *"+ -&($+ /. /;+0)/&, <+./0+ 0+$*/0&*#/'.

Exception and Cautions

Caution 1) Q"+' *"+ $20#'B #$ #'$*&))+, <+*1++' *"+ &22)#-&*#/' &', *"+ &-*(&*/0, /0 #* #$ #'$*&))+, #' C&E#$ (*"+

,#0+-*#/' /. B0&;#*?), #* %&A+$ +E*+0'&) ./0-+ */ *"+ &-*(&*/0. 7',+0 *"+$+ -/',#*#/'$, *"+ $+0;/ &-*(&*/0 /2+0&*+$

$)#B"*)?, <(* -/'*#'(/($)? */ A++2 #*$ 2/$#*#/'. @. *"#$ -/',#*#/' 2+0$#$*$, &-*(&*/0 %&? #';/A+ 4;+0)/&,

$"(*,/1' #' $/%+ -&$+$. !/ 20+;+'* *"#$, ($+ =/0-+ 4.. -/%%&', 1"#)+ +E*+0'&) 2/1+0 #$ &22)#+,.

Caution 2) M&-" *#%+ /;+0)/&, $"(*,/1' #$ +E+-(*+,; #* #$ '/* <#B <(* #* ,&%&B+$ *"+ %/*/0. !"+0+./0+, *"+ -&($+

/. /;+0)/&, %($* <+ 0+%/;+, &.*+0 *"+ .#0$* /;+0)/&, $"(*,/1' $/ *"&* $"(*,/1' ,/+$ '/* /--(0 .0+G(+'*)?.

Important Note : Constant load / Overload

Protection / Force Off Function

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

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OverloadProtectionFunction

7$#'B 4;+0)/&, 20/*+-*#/' .('-*#/', 1+ -&' 20/*+-* %/*/0 ,&%&B+ .0/% /;+0)/&, -/',#*#/'.

4;+0)/&, 20/*+-*#/' .('-*#/' #$ <+#'B &-*#;&*+, .0/% *"+ .&-*/0?. Q"+' #* #$ &-*#;&*+,, %/*/0 2/1+0 1#)) <+ -(*

/..#' -&$+ /. /;+0)/&, -/',#*#/' */ 20/*+-* *"+ $+0;/ &-*(&*/0

!"+ +&$#+$* 1&? */ $+*(&-*#;&*+/#'&-*#;&*+) 4;+0)/&, 20/*+-*#/' .('-*#/' #$ */ -/''+-* $+0;/ 1#*" 8+0;/ 3&'&B+0

8/.*1&0+ ($#'B @9-78601 :L 786 #'*+0.&-+. R/ */ "8"(*,/1' D)&0% 8+**#'B” &', $#%2)? -)#-A(&-*#;&*+) "4;+0)/&,

M00/0".

D'/*"+0 %+*"/, */ $+* 4;+0)/&, 20/*+-*#/' #$ */ ($+ &L/%%&', 2&-A+*. S/( -&' $+', "Q0#*+ 8#'B)+ 9+B#$*+0"

-/%%&', */ *"+ &,,0+$$(0T0&) 1"#-" #$ *"+ &,,0+$$ ./0 D)&0% 8"(*,/1'. 8+* <#* 5 ($++ <+)/1) ./0 4;+0)/&, +00/0

*/ "1"(4;+0)/&, &-*#;&*#/'), *"+' $+', " Q0#*+ 8#'B)+ 9+B#$*+0" -/%%&', */ *"+ $+0;/ %/*/0. 8+0;/ ./0-+ 1#)) <+

-(* /.. (',+0 /;+0)/&, -/',#*#/' #. *"+ <#* #$ $+* &* "1".(1= 4;+0)/&, 20/*+-*#/' &-*#;&*#/' / 0=@'&-*#;&*#/')

Error

bit

4;+0)/&, M00/0

<%1;' C"6'(4* D##"#

Refer to below example for"Q0#*+ 8#'B)+ 9+B#$*+0" command.

Address

Function

Starting

Address Hi

Starting

Address Lo

No of

CRC Lo

CRC Hi

0E01

0E06

0E00

0E0&

0E00

0E21

0E69

0E,0

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.

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1.5 Force Off Function



! D.*+0 *"+ $+0;/ &-*(&*/0 %/;+$ */ *"+ ,+$#B'&*+, 2/$#*#/', *"+ /2+0&*#/' $*/2$ (')+$$ *"+0+ #$ &' +E*+0'&)

./0-+ *"&* -&($+$ *"+ 2/$#*#/' ;&)(+ -"&'B+. @. *"+ 2/$#*#/' ;&)(+ /. *"+ &-*(&*/0 #$ -/'*#'(/($)? -"&'B+, ,(+

*/ ;#<0&*#/' /0 +E*+0'&) ./0-+, *"+ &-*(&*/0 #$ /2+0&*+, -/'*#'(/($)? 1#*"/(* 0+$* */ $*#-A */ *"+ ,+$#B'&*+,

2/$#*#/' ;&)(+, 1"#-" &..+-*$ *"+ )#.+$2&' /. *"+ %/*/0.

! @' *"#$ -&$+, #. *"+ =/0-+ 4.. .('-*#/' #$ 20/2+0)? (*#)#O+,, *"+ %/*/0 2/1+0 -&' <+ 0+)+&$+, */ &))/1 *"+

%/*/0 */ 0+$* 1"#)+ %&#'*&#'#'B #*$ 2/$#*#/' 1#*" %+-"&'#-&) .0#-*#/' (3+-"&'#-&) 8+). >/-A .('-*#/'). M;+'

1"+' #* #$ '+-+$$&0? */ A++2 *"+ 2/$#*#/' ./0 &0+)&*#;+)? )/'B *#%+ &.*+0 0+&-"#'B &-+0*&#' 2/$#*#/', $"(**#'B

/.. *"+ 2/1+0 /. *"+ %/*/0 ($#'B *"+ =/0-+ /.. 2&0&%+*+0 &$ &' &,,+, $&.+*? .('-*#/' "+)2$ */ %&'&B+ *"+

)#.+$2&' /. *"+ %/*/0.

! 7',+0 ./0-+ /.. -/',#*#/', -/%%('#-&*#/' #$ $*#)) &)#;+ 1"#)+ %/*/0 2/1+0 #$ /.., $/ $+0;/ 1#)) %/;+ &B&#'

1"+' $+0;/ B+*$ '+1 2/$#*#/' -/%%&', 1#*"/(* B#;#'B “=/0-+ 4P” -/%%&',.

! =/0-+ 4.. .+&*(0+ -&' <+ &;&#)&<)+ ./0 *"+ &-*(&*/0 "&;#'B “3+-"&'#-&) $+).-)/-A” .+&*(0+. :)+&$+ $++ *"+ -"&0*

<+)/1 */ $++ &;&#)&<#)#*?. (6+)/1 -"&0* $"/1$ $+).-)/-A ./0-+ /. 27%% $*0/A+ %#B"*?CD: /')?. 9+.+0 */ *"+

$+2&0&*+ $2+-#.#-&*#/' ./0 40/53/90%% $*0/A+ ;+0$#/'’$8+). )/-A ./0-+.)

Rated Load Spec#

Mechanical Self-Lock

10 ~20N

P4! D;&#)&<)+

27 ~100N

D;&#)&<)+

=/0 =/0-+ 4.., $+', 0E00 &$ &"Q0#*+ $#'B)+ 0+B#$*+0" -/%%&', */ *"+ &,,0+$$(0E32) 1"#-" #$ *"+ &,,0+$$ ./0 =/0-+

4P/4==. (=/0 =/0-+ 4P, $+', 0E01)

Refer to below example for " Write single register " command.

Address

Function

Starting

Address Hi

Starting

Address Lo

No of

CRC Lo

CRC Hi

0x01

0x06

0x00

0x32

0x00

0x28

0x05

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.

TIP

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

  



2. Basic Information

2.1 Component

#3 33 '(* -&' <+ ($+, */ .#E *"+ "#'B+ &', "#'B+ <&$+. D)$/, 33 '(* $"/(),

<+ ($+, <+*1++' 0/,-+', &', 0/,-+', *#2 &$ &$*/22+0.

2.2 Dimension

:)+&$+ 0+.+0 */ ,+*&#)+, ,#%+'$#/' .0/% 35,0&1#'B &* /(0 1+<$#*+. (111.%#B"*?O&2.-/% →5#B#*&) D0-"#;+$

→12>.J=/0-+J-/'*0/)J$+0#+$→Drawing)

[27mm Stroke Lineup]

**For#27mm stroke actuator,

if necessary, user can extend

it to 30mm through the servo

manager program

(recommended to use 27mm

for better#mechanical

stability)

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

  



[40mm Stroke Lineup]

[53mm Stroke Lineup]

[90mm Stroke Lineup]

ForceControl_MODBUSmightyZAPUSERMANUALV3.1_ENG

  



2.3 Specification

Rated

Load

Stroke

Communication

Rated Load /

Max Speed(No

Load)

Stall Force at

Current

(1.6A/ 800mA /

1000mA)

Mechanical

Self Lock

(ZAxis Use)

Lead Screw /

Gear Ratio /

Gear Type

RS-485

TTL/PWM

10N

4088

12-,-10!-40

12-,-10./-40

100/ 11088/&

600/ 400/ 100

(.(?

(''*%'$"% '"

(116$)('$"%)

-*(+ E%46* 20F

/ 10:1

/ D%4$%**#$%4

.6(&'$) G*(#&

5388

12-,-10!-53

12-,-10./-53

9088

12-,-10!-90

12-,-10./-90

12N

2788

12-,-12!-27

12-,-12./-27

120/ 11088/&

1000/ 600/ 80

17N

4088

12-,-17!-40

12-,-17./-40

170/ 8088/&

1000/ 600/ 80

-*(+ E%46* 15F

/ 10:1

/ D%4$%**#$%4

.6(&'$) G*(#&

5388

12-,-17!-53

12-,-17./-53

9088

12-,-17!-90

12-,-17./-90

20N

2788

12-,-20!-27

12-,-20./-27

200/ 8088/&

1200/ 720/

9.60

27N

4088

12-,-27!-40

12-,-27./-40

270/ 2888/&

1600/ 960/

12.80

H*&

(E116$)(76*)

-*(+ E%46* 5F

/ 10:1

/ D%4$%**#$%4

.6(&'$) G*(#&

5388

12-,-27!-53

12-,-27./-53

9088

12-,-27!-90

12-,-27./-90

35N

2788

12-,-35!-27

12-,-35./-27

350/ 2888/&

2100/ 1260/

16.80

42N

4088

12-,-42!-40

12-,-42./-40

420/ 1588/&

2400/ 1440/

19.20

-*(+ E%46* 5F

/ 20:1

/ I*'(6 G*(#

5388

12-,-42!-53

12-,-42./-53

55N

2788

12-,-55!-27

12-,-55./-27

550/ 1588/&

3000/ 1800/

240

78N

4088

12-,-78!-40

12-,-78./-40

780/ 7.788/&

4200/ 2520/

33.60

-*(+ E%46* 5F

/ 50:1

/ I*'(6 G*(#&

5388

12-,-78!-53

12-,-78./-53

100N

2788

12-,-100!-27

12-,-100./-27

1000/ 7.788/&

6000/ 3600/

480

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