Robust Mini Linear Servo Actuator ------

mightyZAP User Manual

(12Lf Force Control Lineup/IR Protocol)
Check your product series!
Does your model number start with 12Lf-?

This manual is the dedicated manual for 12Lf FORCE control version actuator which support
force/speed control as well as position control.
This manual is for the 12Lf Force control version user who has the model number which starts
with “12Lf” with our own IR protocol.
For the users with 12Lf series who uses MODBUS RTU protocol, please refer separated “Force
control/MODBUS RTU” manual and for the users who have the actuator which starts with D or
L, please refer to the separate “Position control” actuator manual.
 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

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 .............................................................................................................. 7
2. Basic Information ................................................................... 8
2.1. Component ......................................................................................................... 8
2.2. Dimension ........................................................................................................... 8
2.3. Specification .................................................................................................... 10
3. Application ............................................................................. 12
4. Servo Control ......................................................................... 13
4.1. Circuit Connection ........................................................................................ 13
4.2. Communication ............................................................................................. 15
4.2.1. Specification ................................................................................................................ 15
4.2.2. Packet Description ................................................................................................... 17
4.2.3. Data Map ...................................................................................................................... 20
4.2.4. Data Description ....................................................................................................... 22
4.2.5. Command Example Packet ................................................................................... 29

5. Optional Accessories............................................................ 35
6. Warranty Service .................................................................. 37
6.1. Warranty & Service ..................................................................................... 37

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

1. Before Use
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 50~90um – see spec chart of each model)
§ Stall Force Control based on Current feedback
§ Speed Control by 1024 Resolution
§ Bulit-in Drive circuit
§ 4096 Step High Resolution
§ High Performance Coreless Motor
§ Minimized Mechanical Backlash (30um)
§ Excellent Substitute for pneumatic cylinder which does not support position control
§ Reasonable Cost

1.2. For Safety

Please peruse safety instruction below to use mightyZAP safely. Please kindly note that abuse may invalidate
your warranty.
1. Do NOT press the Rod when the servo is being operated. Motor may be damaged(burnt) if higher
force than rated force is applied consistently.

2. Apply proper input voltage using power supply or correct battery. For instance, 7.0~12V for 12V input
product(12Lf series). The motor may be burnt when higher voltage than 13V is applied to the actuator.

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

1) Use under rated force. For instance, rated force of 12Lf-20PT-27 is 20N(approx. 2kg). That is,
lifespan of 12Lf-20PT-27 can be maximized when it is used less than 20N force condition. The
lower load comparing to rated force, the longer lifespan of the motor.

2) Use under 50% of Duty Cycle : If DC motor operates continuously without any interval (rest),
motor will be overloaded and overload protection feature will cut off the power of servo motor.
Therefore, user should consider “Duty cycle” which means the percentage of operating time against
interval time. In other words, 50% duty cycle means that motor should rest 50% of time when
motor operate during 50% of time to manage motor lifespan more efficiently. Use under 50% of
duty cycle for optimized lifespan. The less duty cycle, the longer lifespan.

3) "Force Off" feature when servo motor is in standby mode may prolong the lifespan of servo
motor. However, this feature can be used when there is no problem in your system even if rod
position is changed due to external force because "force off" makes servo force is released.

4. Proper wiring: There is little chance of incorrect wiring when using wire harness with connector
provided by our factory. However, if users use soldering or a third-party connector according to user’s
desire, please pay attention to mis-wiring between the communication and power lines. Incorrect
wiring results in fatal damage to the PC board or certain electrical components. Please refer to the
wiring pin map on “4.1.Circuit Connection” page on this manual to prevent incorrect wiring.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4
5. Position command within mechanical limit : There should be mechanical limit which servo rod can
move when user install servo motor in their application. Make sure that positional command should be
made within user’s mechanical limit. It is too common to mention, but we could see this mistake from
time to time. If positional command is out of mechanical limit, servo will be overloaded at certain point
of time and power will be cut off to protect the servo due to overload protection feature. (if overload
protection is inactivated by user, motor will be not be protected.) Considering precise position control,
make sure to re-check this matter when servo is applied.

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

objective. Due to DC motor characteristic, each actuator’s speed can be
slightly varied even if they are same model and goal position is same.
(may cause overload to one of actuator)

7. Do not TWIST the rod with excessive force when tightening the rod end tip.
If you apply excessive twisting force to the rod when tightening
the rod and tip (while the body is fixed), it may cause damage
to internal part (Engineering Plastic rod-insert). Follow below
instruction to avoid damage.
1) Fix the Rod-end with the included M3 spanner (⑤). This is
to prevent the rod
(①) from turning
badly and damage
while tightening the
M3 nut (②).

2) According to
preference, install
the socket set screw (③) or rod end tip (④) to the proper positioning before hard 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 rod end is fixed with M3 spanner(see
above image.). This is “double nuts” concept which fixes mechanical position by friction.

8. Use properly "Overload protection" feature to protect the servo and your system from damage.
Overload protection feature is activated from the factory, and for other protection setting, if necessary,
set “Alarm shutdown” feature according to your system's condition.

9. Do NOT touch the servo case right after servo operation. It may hot.
10. Keep away from water, humidity, dust and oil.
11. It is designed for indoor purpose. 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

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 70 ˚C or Low temperature lower than minus 20˚C.
§ Highly Humid space / Space having Vibrating condition / Space having Dust / Space causing
Electrostatic

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

1.4. Constant Load / Overload Protection

Important Note : Constant load / Overload Protection

Force Off Feature
Overload protection (Overload shutdown) feature is to prevent overload condition which greatly affect the
service life and to motor burnout. Please read the following for proper protection and use it according to the
conditions.

About mechanism of overload protection (overload shutdown) and terminology

The overload protection mechanism of the 12Lf Force Control series uses a combination of current
accumulation and operation time accumulation.

- In case of continuous operation AT rated load, Shutdown occurs after about 30 sec as the
accumulated current value.
- In case of continuous operation UNDER rated load, Shutdown occurs after longer than 30 sec, but
Shutdown will be made within max. 180 sec even at the lowest load.
- In case of continuous operation ABOVE rated load, Shutdown occurs shorter than 30 seconds due to
the high amount of current accumulation. For example, shutdown occurs within 2 seconds when
the maximum current of 1.6A flows.

Duty cycle is the ratio of the time which motor is actually driven against the time of motor rest.
Duty cycle 50% means that 50% of the time should be restored if the motor runs 50% of the time.
Motor operating time includes the time which the motor rotates/moves normally as well as the time
which motor draws current by stuck condition without motor rotating.

Overload shutdown Disable

The overload shutdown function protects the servo actuator under overload conditions. Depending on the
application, there are applications that need to be operated under severe conditions, even if the overall
mechanism protection is more important than the servo actuator, or even if the life of the servo actuator is
shortened. For this case, shutdown function can be disabled through mightZAP servo manager software so that
shutdown does not work under overload situation. However, in the 12Lf force control series, the goal current
can be set so that the motor can be protected by not exceeding the set maximum current even in an overload
situation.

Recovery after overload shutdown

Since the communication line is still functioning after shutdown, it can be restored to the initial state by “Restart”
command or by reconnecting power. Be sure to remove the cause of overload before restoration.

Exception and Cautions

Caution 1) When the spring is installed between the application and the actuator, or it is installed in Z axis (the
direction of gravity), it makes external force to the actuator. Under these conditions, the servo actuator operates
slightly, but continuously to keep its position. If this condition persists, actuator may invoke Overload
shutdown in some cases. To prevent this, use Force Off command while external power is applied.

Caution 2) Each time overload shutdown is executed, it is not big but it damages the motor. Therefore, the cause
of overload must be removed after the first overload shutdown so that shutdown does not occur frequently.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

Overload Protection Function

Using Overload protection function, we can protect motor damage from overload condition.
Overload protection function is being activated from the factory. When it is activated, motor power will be cut
off in case of overload condition to protect the servo actuator

The easiest way to set(activate/inactivate) Overload protection function is to connect servo with Servo Manager
Software using IR-USB01 PC USB interface. Go to "Shutdown Alarm Setting” and simply click(activate) "Overload
Error".

Another method to set Overload protection is to use a Command packet. You can send "Store data" command to
the address(0X12) which is the address for Alarm Shutdown. Set bit 5 (see below) for Overload error from to
"1"(Overload activation), then send "Store data" command to the servo motor. Servo force will be cut off under
overload condition if the bit is set at "1".(1= Overload protection activation / 0=Inactivation)
Error bit
NONE 7
NONE 6
Overload Error 5
NONE 4
NONE 3
NONE 2
NONE 1
Input Voltage Error 0
Refer to below example for"Store Data" command.

Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data
0xFFFFFF 0x00 0x04 0xF3 0x12 0x20 0xD6

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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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

1.5. Force Off

Force Off Function
After the servo actuator moves to the designated position, the operation stops unless there is an external
force that causes the position value change. If the position value of the actuator is continuously changed due
to vibration or external force, the actuator is operated continuously without rest to stick to the designated
position value, which affects the lifespan of the motor.
In this case, if the Force Off function is properly utilized, the motor power can be released to allow the
motor to rest while maintaining its position with mechanical friction (Mechanical Self Lock function). Even
when it is necessary to keep 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 motor.
Under force off condition, communication is still alive while motor power is off, so servo will move again
when servo gets new position command without giving “Force ON” command.
Force Off feature can be available for the actuator having “Mechanical self-lock” feature. Please see the chart
below to see availability. (Below chart shows self-lock force of 27mm stroke mightyZAP only. Refer to the
separate specification for 40/53/90mm stroke version’s Self lock force.)
Rated Load Spec Mechanical Self-Lock
10~ 20N NOT Available
27~ 100N Available

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 below example for "Store Data" command.

Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data
0xFFFFFF 0x00 0x04 0xF3 0x80 0x00 0x88

TIP
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. .

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

2. Basic Information
2.1. Component

#3 M3 nut can be used to fix the hinge and hinge base. Also, M3 nut should
be used between rod-end nut and rod-end tip as a stopper as shown on the
picture.

2.2. Dimension
Please refer to detailed dimension from 3D drawing at our website. (www.mightyzap.com →Digital Archives
→12Lf Force control series→Drawing)
[27mm Stroke Lineup]

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

[40mm Stroke Lineup]

[53mm Stroke Lineup]

[90mm Stroke Lineup]

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

2.3. Specification
12Lf Series Specifications
Communication Stall Force at
Rated Load / Mechanical Lead Screw /
Rated Current
Stroke Max Speed(No Self Lock Gear Ratio /
Load (1.6A / 800mA /
Load) (Z Axis Use) Gear Type
RS-485 TTL/PWM 1000mA)

40mm 12Lf-10F-40 12Lf-10PT-40

10N 53mm 12Lf-10F-53 12Lf-10PT-53 10N / 110mm/s 60N / 40N / 10N Lead Angle 20°
/ 10:1
/ Engineering
90mm 12Lf-10F-90 12Lf-10PT-90 Plastic Gears

12N 27mm 12Lf-12F-27 12Lf-12PT-27 12N / 110mm/s 100N / 60N / 8N No

(Pay
attention to
40mm 12Lf-17F-40 12Lf-17PT-40 application)

17N 53mm 12Lf-17F-53 12Lf-17PT-53 17N / 80mm/s 100N / 60N / 8N Lead Angle 15°
/ 10:1
/ Engineering
90mm 12Lf-17F-90 12Lf-17PT-90 Plastic Gears

120N / 72N /
20N 27mm 12Lf-20F-27 12Lf-20PT-27 20N / 80mm/s
9.6N

40mm 12Lf-27F-40 12Lf-27PT-40

160N / 96N /
27N 53mm 12Lf-27F-53 12Lf-27PT-53 27N / 28mm/s Lead Angle 5°
12.8N / 10:1
/ Engineering
90mm 12Lf-27F-90 12Lf-27PT-90 Plastic Gears

210N / 126N /
35N 27mm 12Lf-35F-27 12Lf-35PT-27 35N / 28mm/s
16.8N

40mm 12Lf-42F-40 12Lf-42PT-40

240N / 144N / Yes
42N 42N / 15mm/s
19.2N (Applicable) Lead Angle 5°
53mm 12Lf-42F-53 12Lf-42PT-53 / 20:1
/ Metal Gear
300N / 180N /
55N 27mm 12Lf-55F-27 12Lf-55PT-27 55N / 15mm/s
24N

40mm 12Lf-78F-40 12Lf-78PT-40

420N / 252N /
78N 78N / 7.7mm/s
33.6N Lead Angle 5°
53mm 12Lf-78F-53 12Lf-78PT-53 / 50:1
/ Metal Gears
600N / 360N /
100N 27mm 12Lf-100F-27 12Lf-100PT-27 100N / 7.7mm/s
48N

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

12Lf Series Common Specifications

Stroke Unidirectional
27mm / 40mm 30μm(0.03mm)
Repeatability
53mm 40μm(0.04mm)
90mm 50μm(0.05mm)
Mechanical Backlash 0.03mm(30μm)
Rod Type Metal Alloy Rod
Motor Type Coreless Motor
Rated Voltage 12V
Motor Watt 26W
At Rated Load At Max Applicable Load
Recommended Duty Cycle
Max 50% Max 20%
Current Accuracy ±15%at Over 50mA
Position Sensor 10KΩlinear Potentiometer
Input Voltage Range 7 ~13V
Stall
Idle Rated
Current Consumption Default MAX
20mA 380mA 800mA 1.6A
Audible Noise Approx. 50db at 1m
LED Indication Two Errors Indications (Input voltage, Overload)
PWM (PT version, R/C Hobby Signal)
Pulse Signal / Pulse Range
900μs(Retracted)-1500μs(Center)-2100μs (Extended)
RS-485 or TTL(PT version) /
Data Communication / Protocol
IR Robot open protocol (Default) / MODBUS RTU (Switchable)
Ingress Protection IP-54(Dust & Water Tight)
27mm 57.5(L)x29.9(W)x15(H)mm/ 49~52g
40mm 86.9(L)x36(W)x18(H)mm/ 96~99g
Size / Weight
53mm 111.5(L)x36(W)x18(H)mm/ 124~127g
90mm 151.5(L)x36(W)x18(H)mm/ Approx. 177g
Operating Temperature -10℃~ 60℃
TTL(PT version) : Molex to Molex Type (Molex 50-37-5033, 3pins) /
200mmlength, 0.08×60(22AWG)
Wire Harness
or RS485(F version) : Molex to Molex Type(Molex 0510650400, 4pins) /
200mm length, 0.08×60(22AWG)
* Design and Specification can be changed without prior notice for further improvement.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

3. Application
Factory Automation
• Better Replacement of Pneumatic Cylinder
• Real-Time Automatic Width Adjustment Conveyer
• Real-Time Automatic Product Alignment (Up/Down or Left/Right)
• Automatic Value Control (oil or water)
• Automatic Dispensing with Syringe
• Automatic Clamping System
• Fitting or Adjusting Distance
• Pick & Place
• In & out / Extension & retraction
• Open & Closing (On-Off )
• Change of Direction
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
• Robot Grippers
• Linear Control Parts of Surgical Robot

UAV / Professional Drone

• Fixed wing (Aileron/Elevator/Throttle/Flap/Air Brake/ Rudder/
Throttle)
• Helicopter (Swash Plate Control/Rudder)
• Multicopter (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 Rapsberry Pie Control
• Maker's DIY Project

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

4. Servo Control
4.1. Circuit Connection
mightyZAP(12Lf-xxPT-xx) supports both data communication (Half Duplux TTL) as well as simple pulse(PWM)
control. For the control under data communication, UART signal of main board should be converted into Half
Duplex Type signal. TTL Conversion circuit will be as below.

n TTL/PWM(3Pin Connector-Model 12Lfxx-xxPT-xx Series)

12V
Communication voltage 3~5V

Data ( )
VDD (Red)
GND (Black)

74LVC2G241

The direction of data signal for TxD and RxD of TTL level will be determined according to the level
of direction_port as below.
§ The level of "direction_port" is LOW :Data signal will be inputted to RxD.
§ The level of "direction_port" is HIGH :TxD signal will be outputted as Data.

※ Both GNDs between actuator and controller should be connected as above diagram.

※ For PWM control, please connect PWM signal(3~5V) to the Data pin above. (GND,VDD are same
as above)
※ In case of using PWM communication, position control is possible, but feedback data such as the
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 connection are possible by TTL or RS-485
communication.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

n RS-485(4Pin Connector - Model 12Lf-xxF-xx Series)

Model 12Lfxx-xxF-xx Series uses RS-485 communication. Pin map and Conversion circuit will be as
below.

PIN NUMBER(COLOR) PIN NAME FUNCTION(RS485)

1(Yellow) D- RS485 –
2(White) D+ RS485 +
3(Red) VCC Power +
4(Black) GND Power -

Communication voltage 5V 12V

D- ( )
D+ ( )
VCC (Red)
GND (Black)

※If the power is supplied from outside, you can connect to 485 D+, 485 D- only.

You can convert TX and RX mode by controlling “Direction_Port pin” in above circuit.
§ The level of "direction_port" is LOW : Data signal will be inputted to RxD.
§ The level of "direction_port" is HIGH : TxD signal will be outputted as Data
※ Both GNDs between actuator and controller should be connected as above diagram.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

4.2. Communication
mightyZAP and your main controller will communicate by exchanging data packet. The sorts of packet are
Command packet (Main controller to mightyZAP) and Feedback packet(mightZAP to your main controller)

Command Packet

Main Controller
Feedback Packet
4.2.1. Specification

① Communication specification
§ 2 Mode in One (Pulse / Data Mode Auto-Switching)
mightyZAP 12Lf-xxPT-xx series will automatically recognize the input signal between data
mode(TTL) and pulse mode(PWM).

§ Data Mode (TTL/RS-485)

Asynchronous Serial communication (8 bit, 1 Stop bit, None Parity)
Item Spec
Structure Half-duplex UART
Baud Rate 57600bps(default)
Data Size 8bit
Parity non-parity
Stop Bit One 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, 10msec for data read.
CAUTION! Otherwise, there can be communication collision and motor failure.
Above delay time is not minimum, but proper delay time for safety.

§ PWM Pulse Mode

PPM(Pulse Position Modulation) Compatible [ Radio-Control Servo Pulse Mode]
(900us(Retracted)~1500 us(Center)~2100 us(Fully Extended). Under PWM mode, position
command available without feedback data.

Period
Start Point Short Stroke Long Stroke (8ms~23ms)
(0us) (900us) (2100us) 20ms recommended
※ Short stroke : Retract stroke / Long stroke : Extend stroke

※ Since PWM control is vulnerable to noise, it is highly recommended to control with a saturation-type
PWM signal (continuous PWM) rather than a single PWM signal, so that it does not break at a specific
frequency. Recommended frequency is 50Hz(20ms).
※ In case of using PWM communication, position control is possible, but feedback data such as the
present 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 connection are possible by
TTL or RS-485 communication.
※ Alternatively, PWM control is possible in the following way.
Frequency 50Hz / Duty rate 4.5% ~ 10.5%. (Control by 0.05% unit)

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

② Data specification
Data range is basically determined as below in both Data and Pulse modes.

Rod Stroke Data Mode Pulse Mode

Short (Retracting) Stroke 0 900us
Half Stroke 2047 1500us
Long (Extending) Stroke ** 4095** 2100us
**For 27mm stroke mightyAP, long stroke limit is set at 27mm, but user is able to extend the
long stroke to max.30mm. Data value for 27mm stroke is 3686. (for better mechanical stability
against lateral load, 27mm is recommended.)

③ Daisy-Chain Connection
After receiving Command Packet at multiple qty of mightZAPs, the servo whose ID is N will
be operated only. (Only N ID servo will send Feedback packet and execute Command.)

Command
Packet(ID=N)

Main Controller

ID=0 ID=1 ID=

ID=N

Feedback Packet(ID=N)

Caution Unique ID
Each mightZAP servo must have an individual ID to prevent interference between
same IDs. Therefore, you need to set individual IDs for each servo in the network
node.
User may assign 253 different IDs and connect 253pcs servos in serial via TTL
protocol. For RS-485 protocol, 253 IDs can be assigned, but available serial connection
is up to 32pcs servo motors due to RS-485 node regulation.
As factory default ID is 0, so please assign different, individual IDs for each actuator
from ID0~253 for daisy chain connection.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

4.2.2. Packet Description

① Command Packet
It is command packets for servo operation. Its structure and elements are as below.

n Structure

Start Byte 1 Start Byte 2 Start Byte 3 SIZE COMMAND FACTOR FACTOR FACTOR
ID CHECKSUM
(0xFF) (0 ~ 255) (0 ~ 255) #1 #m #N
(0xFF) (0xFF)

n Element

Index Data Description

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 Servo ID (Range: 0 ~ 253, Broadcast ID: 254)
4 SIZE Packet Size (COMMAND+FACTOR+CHECKSUM)
5 COMMAND Instruction
5+1 FACTOR #1 First Parameter
5+m FACTOR #m "m"th Parameter
5+N FACTOR #N Last Parameter
Check Sum = 0xff - ( LOWER_BYTE( ID + SIZE + COMMAND +
5+N+1 Check Sum
FACTOR#1 + … + FACTOR#N ) )

n Element Description
1. HEADER (3Byte)

Code to recognize Packet start : 0xFFFFFF

2. ID (1Byte)

The ID is an unique number of each servo to support Daisy Chain connection.

Factory default value(ID) is 0.
In case of ID = 0 ~253, ID "N" which is stored in the servo will be operated.
In case of ID = 254 (0xFE), it is operated under "Broadcasting Mode (move all servos)" and
Feedback Packet does 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

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4. COMMAND (1Byte)

Command codes defining the purpose of Packet

Function CODE Description

Echo 0xF1 Feedback Packet Reception
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
Execution 0xF5 Execute temporarily stored data that is made by
SendData.
Factory Reset 0xF6 Reset to Factory default parameter value
Restart 0xF8 Restart servo system
Symmetric 0x73 Store data in the same address of multiple qty servos.
Store

5. FACTOR

Additional Packet factor according to Command

6. CHECKSUM

Verification data to check omission and any changes of Packet data. The interaction
formula will be as below.
Checksum = 0xff - ( 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 the formula for above.
LOWER_BYTE( ID + SIZE + COMMAND + FACTOR#1 + ... + FACTOR#N ) == ( ID + SIZE +
COMMAND + FACTOR#1 + ... + FACTOR#N ) % 0x100

② Feedback Packet
After reception of command packet, servo sends Feedback packet including requested
information. Its structure and factors are as below.

n Structure

Start Byte 1 Start Byte 2 Start Byte 3 SIZE FACTOR FACTOR FACTOR
ID ERROR CHECKSUM
(0xFF) (0xFF) (0xFF) (0 ~ 255) #1 #m #N

n Element

Index Data Description

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 Servo ID (Range: 0 ~ 253, Broadcast ID: 254)
4 SIZE Packet Size (COMMAND+FACTOR+CHECKSUM)
5 ERROR Error Code
5+1 FACTOR #1 First Parameter
5+m FACTOR #m "m"th Parameter
5+N FACTOR #N Last Parameter
Check Sum = 0xff - ( LOWER_BYTE( ID + SIZE + ERROR +
5+N+1 Check Sum
FACTOR#1 + … + FACTOR#N ) )

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n Element Description
1. HEADER (3Byte)

Recognizing "Packet start" code. 0xFFFFFF

2. ID (1Byte)

Individual ID number for each servo (0 ~253)

3. SIZE (1Byte)

Packet length in Byte unit

Data counting value after "Size" data (ERROR+FACTOR+CHECKSUM)
That is, Size value = Number of byte of "Factor" + 2

4. Hardware ERROR (1Byte)

Error status during operation for each bit

Error bit Description LED
None 7 TBD None
None 6 TBD None
5 In case that current load cannot be controlled with the Red
Overload Error
designated maximum force, it will be set as "1". Blink
None 4 TBD None
None 3 TBD None
None 1 TBD None
Input Voltage 0 In case that the input voltage is out of operating voltage
Red On
Error range designated in the Control table, it will be set as "1".

5. FACTOR

Additional Packet factor according to Feedback data.

6. CHECKSUM

Verification data to check omission and any changes of Packet data. The interaction formula will
be as below.
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

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4.2.3. Data Map

① Data Memory Map

n Memory using data (Non-volatile)
Data to be saved in non-volatile memory which maintains data even after power OFF/ON.
All data will be reset to default value when Factory Reset command is executed.
Address Name Description Access Default
Lower byte of Model
0 (0x00) Model Number(L) number R
High byte of Model
1 (0x01) Model Number(H) number R
2 (0x02) Version of Firmware Firmware version info R -
3 (0x03) ID Servo ID RW 0 (0x00)
4 (0x04) Baud Rate Communication Speed RW 32 (0x20)
Lower byte of Short
6 (0x06) Short Stroke Limit(L) Stroke Limit RW 0 (0x00)
High byte of Short
7 (0x07) Short Stroke Limit(H) Stroke Limit RW 0 (0x00)
Lower byte of Long
8 (0x08) Long Stroke Limit(L) Stroke Limit RW 102 (0x66)
High byte of Long
9 (0x09) Long Stroke Limit(H) Stroke Limit RW 14 (0x0E)
Comm. Protocol
0x01
10 (00x0A) Protocol Type (MODBUS RTU or RW
(IRPROTOCOL)
IR Open)
12 (0x0C) the Lowest Limit Voltage Lowest Voltage Limit R Each SPEC
13 (0x0D) the Highest Limit Voltage Highest Limit Voltage R Each SPEC
Lower byte of Motor
14 (0x0E) Motor Operating Rate(L) Operating Rate RW 255 (0xFF)
High byte of Motor
15 (0x0F) Motor Operating Rate (H) 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)
Alarm Shutdown
18 (0x12) Alarm Shutdown RW 33(0x21)
Function
Start Compliance
19 (0x13) Start Compliance Margin RW Each SPEC
Margin
20 (0x14) End Compliance Margin End Compliance Margin RW Each SPEC
Lower byte of average
21 (0x15) Speed Limit(L) RW 255(0xFF)
motor speed limit
High byte of average
22 (0x16) Speed Limit(H) RW 3(0x03)
motor speed limit
Lower byte of
24 (0x18) Calibration Short Stroke R 0 (0x00)
Calibration Short Stroke
(L)
High byte of Calibration
25 (0x19) Calibration Short Stroke R 0 (0x00)
Short Stroke
(H)
Lower byte of
26 (0x1A) Calibration Long Stroke R 255 (0xFF)
Calibration Long Stroke
(L)
High byte of Calibration
27 (0x1B) Calibration Long Stroke R 15 (0x0F)
Long Stroke
(H)
Moving Acceleration
33 (0x21) Acceleration Ratio RW Each SPEC
Ratio
Moving Deceleration
34 (0x22) Deceleration Ratio RW Each SPEC
Ratio
35 (0x23) Current I Gain Current Integral Gain RW Each SPEC
36 (0x24) Current P Gain Current Proportional RW Each SPEC

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Gain
37 (0x25) Speed D Gain Derivative Gain RW Each SPEC
38 (0x26) Speed I Gain Integral Gain RW Each SPEC
39 (0x27) Speed P Gain Proportional Gain RW Each SPEC
46 (0x2E) Min Position Calibration Min Position Value Trim RW Each SPEC
47 (0x2F) Max Position Calibration Max Position Value Trim RW Each SPEC
Lower Byte of Current Limit
52 (0x34) Current Limit (L) RW 32 (0x20)
Current Limit (H) High Byte of Current Limit
53 (0x35) RW 3 (0x03)

② Parameter Map
n Parameter Using Data (Volatile)

All data to be reset to default value whenever power is On.

Address Name Description Access Default
128 (0x80) Force ON/OFF Force On/ Off RW 1 (0x01)**
129 (0x81) LED LED On/Off RW 0 (0x00)
134 (0x86) Goal Position(L) Low byte of Goal position value RW -
135 (0x87) Goal Position(H) High byte of Goal position value RW -
Speed
136 (0x88) Goal Speed(L) Low byte of Goal speed value RW Limit
Speed
137 (0x89) Goal Speed(H) High byte of Goal speed value RW Limit
Current
138 (0x8a) Goal Current(L) Low byte of Goal curent value RW Limit
Current
139 (0x8b) Goal Current(H)” High byte of Goal curent value RW Limit
140 (0x8C) Present Position(L) Low byte of present position value R -
High byte of present position
141 (0x8D) Present Position(H) R -
value
142 (0x8e) Present Current (L) Low byte of present Current R -
143 (0x8f) Present Current (H) High byte of present Current R -
Present Motor Low byte of present motor
144 (0x90) R -
Operating Rate (L) operating value
Present Motor High byte of present motor
145 (0x91) R -
Operating Rate (H) operating value
146 (0x92) Present Voltage Current voltage R -
150 (0x96) Moving Moving status R 0 (0x00)
**Applied from firmware ver.2.0 or higher

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4.2.4. Data Description

(1) Non-Volatile Memory

1) Model Number
• The model number of MightyZAP
• "Read" only to discriminate & recognize concerned model

2) Version of Firmware
Check if current firmware is the latest version.

3) ID [0~254 / Default : 0]
ID to discriminate each servo. Different IDs should be assigned in Daisy-Chain system.
In case of ID = 0 ~253, ID "N" which is stored in the servo will be operated.
In case of ID = 254 (0xFE), it is operated under "Broadcasting Mode (move all servos)" and
Feedback Packet does not work.
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.

4) Baud Rate
Determining communication speed. Default value is 57600bps
Servo system should be rebooted to apply changed baud rate to the servo.
[Setting Value]
In old Firmware version 1.5 or lower, Baudrate 38400bps is
Baud Rate(bps) not provided.
Value
16 (0x10) 115200 Baud Rate is a non-volatile memory area. If you change the
data, communication may stop for a short time during saving
32 (0x20) 57600
process. Therefore, please be careful of frequent value
48(0x30) 38400 changes during operation.

64 (0x40) 19200
128 (0x80) 9600

5) Stroke Limit [0~4095]

Stroke limit between Short Stroke (A) and Long Stroke (C) which is the max/min. value of Goal
Position. If the Goal Position value is smaller than the Short Stroke Limit value or greater
than the Long Stroke Limit value, Goal Position value is replaced with the Stroke Limit
value.
(Range: 0 ~ 4095 )

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.

A C

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6) Protocol Type [Default : IR Protocol]

Value Protocol Description
0 (0x00) MODBUS RTU Industrial RS485 Standard Communication Protocol
※Refer to the separate MODBUS Protocol user manual.
1(0x01) IR Protocol IRROBOT Open Protocol
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.
In old Firmware version 1.5 or lower, only IR Protocol is provided. (MODBUS available from V2.0 or higher)

7) Highest / Lowest Limit Voltage

Max/Min. value of input voltage (unit : 0.1V)
According to input voltage, speed and force of actuator can be varied.
For detailed info, please refer to the data sheet of each model.
Input Volt Default Value
Lowest Voltage 7.0 [V]
Highest Voltage 13 [V]
If higher voltage than 13V supplied, input voltage error will be triggered and motor power
will be shutdown.

8) Motor Operating Rate [0~1023 / Default : 1023]

It represents 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.
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.

9) Feedback Return Mode

Feedback packet return mode after receipt of Command Packet
Mode Feedback Packet Return or NOT
0 Do NOT sending Feedback packet for all Commands. (Except for Echo
command)
1 Sending Feedback packet only for Load Data Command.
2 Sending Feedback packet for all Commands.
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.

Under Broadcast ID(0xFE) mode, feedback packet will NOT be sent regardless values of Feedback
Return Mode.

10) Alarm LED [Default : 33]

If concerned bit is set as "1" when error occurs, error LED indication will be activated. (1 :
activate, 0: deactivate)
Error bit LED Indicate
Overload Error 5 Red Blink
Input Voltage Error 0 Red Steadily ON
In case of Input Voltage Error, the alarm is non-volatile memory area. If you change the data,
immediately cleared when the error is communication may stop for a short time during
resolved. saving process. Therefore, please be careful of
frequent value changes during operation.
In case of Overload Error, the alarm is not
cleared even after overload condition is resolved, but can be cleared by rebooting the
power or restarting the system.

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11) Alarm Shutdown [Default : 33]

Force will be OFF if concerned bit is set as "1" when error occurs. (1 : activate, 0:
deactivate)
Error bit Overload error / Input voltage error shutdown feature is
Overload Error 5
activated from the factory. These can be disabled by
Input Voltage 0
user using mightyZAP manager software according to
Error their wish, but please consider carefully to protect the
motor.

Alarm Shutdown is a non-volatile memory area. If you

In case of Lowest Input Voltage Error,
change the data, communication may stop for a short time
the motor will NOT be shut-down(force during saving process. Therefore, please be careful of
off). frequent value changes during operation.
In case of Highest Input Voltage Error
and Overload Error, the motor will be shut-down(force off) and shut-down status will be
cleared by rebooting the power or restarting the system.

12) Compliance Margin

Start Compliance Margin (Recommended margin value : 7)
Minimum margin value for the servo actuator to start position movement.
For example, if the compliance margin is 7 and the current position value is 400,
motor start will be made when positional value between 407(400+7) and 393(400-7) is
set.
Likewise, when the 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 starts to run to compensate position.
For this reason, the larger this value means more stable operation without jittering
even in the environment where the external pressure, electrical noise, or the
clearance increases, but the sensitivity to drive to the desired position may be
reduced. In other words, generally, increasing this value increases durability, and
reducing it increases precision.
This value must be equal to or greater than the "End compliance margin value"
described below. Setting it to a lower value may cause an error.

End Compliance Margin (Recommended margin value : 4)

Minimum margin value for the servo actuator to complete position movement.
For example, if actuator is instructed to move to a position value of 400, and assuming
that it cannot physically stop at a position value of 400 exactly due to software &
mechanical clearance, acceleration, etc. of the servo, End compliance margin will be a
criteria to judge if the positional command has been performed properly. If this value
is set to 4 and the position command value is set to 400, actuator judges that
positional movement has been made properly when it reaches within 396~404 range
and then stop movement.
If this value is increased for stable operation, you should not increase it beyond the
"Start Compliance Margin” value which is described above, and if this value is
decreased too much to increase the accuracy, it may bring adverse effect such as jitter.
The smaller the End Compliance Margin, the more sensitive and better the positioning
accuracy. However, if it is reduced below a certain value, the effect becomes
insignificant.
If the End Compliance Margin is increased, the operation becomes cleaner and more
stable when the target position is reached. Especially, the faster the product, the
better the effect. However, if it is too large, conversely, the precision may deteriorate.
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.

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13) Current Limit (0~1600 / Default : 800)

It is the maximum current limit value of the motor (0~1600). In other words, the stall force is
adjusted by controlling the stall current limit. (Stall force : maximum power of the motor.)
The control value is set from 0 to 1600, and the control value of 1600 represents the
maximum stall current - 1600mA. (Error range :+/-15%)
The default set value is 800 (mA) from the factory to prevent unnecessary use of the
maximum stall current in case of emergency, but guarantees the maximum speed at the
rated load.
As the Current Limit is set closer to the stall force, the maximum force that the motor can
produce in an overload situation increases, but it may cause a shortening of motor lifespan.
The Current Limit is a non-volatile parameter stored in memory. Thus, it is highly
recommended to set the “Current Limit” value only at the initial setting. For frequent
current changes during operation, please use the “Goal Current” command, which is a
volatile parameter.
When the non-volatile “Current Limit” value is changed, note that the volatile parameter
“Goal Current” is also changed when power is reapplied.
Actuator operation may be irregular or may not move in the low current setting (less than
200mA) depending on the deviation of internal mechanical resistance of each product.
For the difference in stall force value according to the current setting, refer to the related
graph in the data sheet.
non-volatile memory area. If you change the data, communication may stop for a short time during
saving process. Therefore, please use volatile parameter “Goal Current” for frequent value changes
during operation.

14) Speed Limit (0~1023 / Default : 1023)

Average moving speed limit value of the motor (0~1023). When it is 0, the starting power
is OFF, and when it is 1023, the maximum speed is achieved.
Changing the Speed Limit does not affect the Force.
However, if the speed limit is set too low, the response of the motor may be delayed or it
may not be able to move.
When the Speed Limit value is changed, the Goal Speed is also changed.
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.

15) Calibration Stroke

Calibration Short Stroke : Short Stroke calibration value, Short Stroke Calibration value
which is set at the factory will be saved.
Calibration Long Stroke : Long Stroke calibration value, Long Stroke Calibration value
which is set at the factory will be saved.

16) Acceleration / Deceleration [0~255 / Default : Individual Spec]

Indicates the acceleration/deceleration rate of the motor.
Acceleration: The acceleration value when the motor starts moving. If the value is high,
the motor accelerates rapidly. Conversely, if the value is low, smooth acceleration, but if it
is too low, the motor may not move.
Deceleration: The deceleration value when the motor reaches the position. If the value is
high, it decelerates rapidly and may stop outside the goal position with a bounding
phenomenon occurs that moves from the deviating position to the goal position. In this
case, normal braking may not be achieved.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4
If the deceleration is too low, the actuator becomes too slow and the time to reach the
goal position may be delayed.
It 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.

When correcting Acceleration / Deceleration,

test after applying a small change value.

17) Current PI [0~255 / Default : Individual Spec]

PI value for motor current control
If you apply a larger PI value than the set value, it may operate harshly against the error
with the Goal Current.
If you apply a smaller PI value than the set value, it may operate smoothly against the
error with the Goal Current, but the error with the Goal Current value may appear large.
Please test by applying from small change values.
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.

18) Speed PID [0~255 / Default : Individual Spec]

ž PID value for speed control of motor.
ž If a PID value larger than the set value is applied, the motor may vibrate without being
able to stop at the set position value due to overshoot or over-response state due to rough
operation against the error between the goal speed and the current speed.
ž If a PI value smaller than the set value is applied, it operates smoothly in the error
between the goal speed and the current speed, but the error between the goal speed value
may appear large.
It 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.

Test from applying a small change value.

19) Min/Max Position Calibration [0~255 / Default : Individual Spec]

ž Min Position: The position of the minimum stroke when the Goal Position value is ‘0’.
ž Max Position: The maximum stroke position when the Goal Position value is ‘4095’.
ž Unlike the Stroke Limit command, the range of the Goal Position value [0~4095] is not
limited and the length of the actual used stroke is changed.
ž Min/Max Position value of each actuator has a mechanical tolerance of ±0.5mm.
So, Position Calibration command can be used to synchronize the start and end positions
of slightly different servos for the same Goal Position value by correcting each error value.

<Min <Max Position>

Position>

Parameter Goal Position Range Remark

Stroke Limit Short Stroke Limit ~ Long Stroke No limit on the available stroke
Limit range, only limit G/P input range
(0~4095)
Position 0 ~ 4095(Full range) Input range (0~4095) is not limited,

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4
Calibration but the available stroke range may
vary.
ž For example, if the Min Position Calibration value at Min Position 3.8mm of 12Lf-20F-27 is
5, increasing the Min Position Calibration value increases the Min Position value and the
entire stroke range will be reduced as the Min Position increases.
It 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.

Volatile Memory
20) Force ON/OFF (Default : 1)
Setting for Force On and OFF ( 0 : OFF, 1 : ON)
value Description
0 Cut off power to the motor and Force is OFF.
1 Power to be supplied to the motor and Force is
ON.

TIP
migtyZAP keeps its position due to mechanical design even after motor power is off. For instance,
mightyZAP having more than 27N rated load, rod sticks to its position firmly when motor power is off.
So, in case servo motor needs to keep certain position (if mechanical frictional force is able to keep its
position under power off condition against your load), apply FORCE OFF parameter. In this case,
communication line is still alive and only motor power can be off which helps longer lifespan of the
servo. Upon new positional command, servo will be FORCE on and do its next movement.

21) LED
Control LED when there is no Error indication.
bit Description
0 LED Disable ( All LEDs will be Off when it is 1)
1 RED LED Control
2 GREEN LED Control

22) Goal Position [0~4095]

ž Goal position value which is desired position value to move. The goal position value will
be affected by both short/long stroke limit. (i.e. move only to the stroke limit position even
if the position command is out of the stroke limit range)
ž For the 27mm stroke product, the goal position value at 27mm is 3686 due to the long
stroke limit setting. It can be extended to 30mm (4095) if desired.

23) Goal Speed [0~1023 / Default : Speed Limit value]

ž Goal speed is the average moving speed value of motor (0 ~ 1023) and it is volatile
memory parameter.
ž When the servo motor power is applied or the Restart command is applied, the value of
Speed Limit, which is a non-volatile parameter, is copied to Goal Speed.
ž It reacts faster than the Speed Limit command and can be used to change the speed in real
time during operation.
ž When it is 0, the maneuverability is OFF and when it is 1023, it gives the maximum speed.
ž Changing the Goal Speed does not affect the force.
ž However, if the GoalSpeed setting is too low, the motor response may be slowed down or
it may not be able to move.

24) Goal Current [0~1600 / Default: 800]

ž It is the maximum current limit value of the motor (0~1600). In other words, the stall force
is adjusted by controlling the stall current limit. (Stall force : maximum power of the
motor.)
ž Goal Current is functionally same as Current Limit which is a non-volatile parameter, but
for frequent current setting changes during operation, use the Goal Current command, a
volatile parameter for faster response and preventing communication failure.

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4
ž The control value is set from 0 to 1600, and the control value of 1600 represents the
maximum stall current - 1600mA. (Error range :+/-15%)
ž The default set value is 800 (mA) from the factory to prevent unnecessary use of the
maximum stall current in case of emergency, but guarantees the maximum speed at the
rated load.
ž As the Goal Current is set closer to the stall force current, the maximum force that the
motor can produce in an overload situation increases, but it may cause a shortening of
motor lifespan.
ž When the non-volatile “Current Limit” value is changed, note that the volatile parameter
“Goal Current” is also changed when power is reapplied.
ž Actuator operation may be irregular or may not move in the low current setting (less than
200mA) depending on the deviation of internal mechanical resistance of each product. So,
please set the current to higher than 200mA for proper performance.
ž For the difference in stall force value according to the current setting, refer to the related
graph in the data sheet.

25) Present Position [0~4095]

Current Position value.
Range is between 0~4095, and even after the motor is stopped, the minute position change
within the margin value can be made, and this is a normal operation.

26) Present Motor Operating Rate [0~2047]

Current Motor operating rate value. It can be affected by Goal current, Goal speed,
Acceleration/ Deceleration adjustment.
To be shown in the range of 0~2047
Value 0 indicates the motor is stopped.
Between1~1023: Motor operating rate on short stoke direction (retract direction).
Between 1024~2047: Motor operating rate on long stoke direction (extend direction).

27) Present Current [0~1600]

Present motor Current value.
To be displayed in the range of 0 ~ 1600.
The value includes the error(+/-15%) of the actual current value. Please use it just for
reference.

28) Present Voltage

Current input voltage. The unit is 0.1V
For instance, 74 means 7.4V, 120 means 12V.

29) Moving
Moving status
Value Description
0 Goal Position command execution is completed. (Motor stop)
1 Goal Position command execution is under operation. (Motor moving)

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 Force Control_IR Protocol_mightyZAP USER MANUAL V.3.4

4.2.5. Command Example Packet

1) Echo Receiving Feedback Packet (Refer to the” Load Data” parameter for feedback on position
values, etc.)
Command Packet
HEADER ID Size Command Checksum
0xFFFFFF 0x00 0x02 0xF1 0x0C
- Command packet to recognize status of servo connection.

Feedback Packet
HEADER ID Size Error Checksum
0xFFFFFF 0x00 0x02 0x00 0xFD
- Feedback packet to inform status of servo connection. (Including Error information)

2) Factory Reset Reset to factory default parameter value.

Command Packet
HEADER ID Size Command Factor Checksum
Option
0xFFFFFF 0x01 0x03 0xF6 0x01 0x04
- Basic parameter (Memory & Parameter) to be reset to Default value.
Option bit Description
Additional Reset to be determined according to options. 0
Servo ID Reset servo ID to 0
- Servo ID to be reset to 0(ID Default) and Baud Rate to be maintained Baud Rate 1 Reset to 32 (57600 bps)
current status.
- If concerned bit is "1", it means Reset. If it is "0", it means Hold.

Feedback Packet
HEADER ID Size Error Checksum
0xFFFFFF 0x01 0x02 0x00 0xFC
- Feedback packet informing receipt of Factory reset.

3) Restart Servo system Restart

Command Packet
HEADER ID Size Command Checksum
0xFFFFFF 0x00 0x02 0xF8 0x05
- Command packet to reboot servo system.

Feedback Packet
HEADER ID Size Error Checksum
0xFFFFFF 0x00 0x02 0x00 0xFD
- Feedback packet informing receipt of Restart command of servo system (Only feedback in
the Feedback Return Mode 2)

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4) Store Data Store data after sending Address and Data to set ID, goal position, Force limit,
Stroke limit, Speed, Force On/Off and etc.
ID change : Change ID‘0’ into ID ‘1’(0x01)
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data
0xFFFFFF 0x00 0x04 0xF3 0x03 0x01 0x04
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which servo motor ID is saved. (see (3)Data Map)
- Data : Desired Servo ID (put 0x01 at address 0x03)

Goal Position command 1: Command packet to assign goal position to 2047(0x07FF)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x86 0xFF 0x07 0x7A
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which goal position value is saved. (see (3)Data Map)
- Data #1 : Desired goal position’s lower byte (address 0x86 : 0xFF)
- Data #2 : Desired goal position’s upper byte (address 0x87 : 0x07)
※Goal position value Hex change (decimal numberà hexadecimal number) : 2047 à0x07FF

Goal Position command 2 : Command packet to assign goal position to 1000 (0x03E8)
HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x86 0xE8 0x03 0x95
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which goal position value is saved. (see (3)Data Map)
- Data #1 : Desired goal position’s lower byte (address 0x86 : 0xE8)
- Data #2 : Desired goal position’s upper byte (address 0x87 : 0x03)
※ Goal position value Hex change (decimal numberàhexadecimal number) : 1000 à 0x03E8

Goal Speed 1 : Command packet to assign Goal Speed to 512(0x0200)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x15 0x00 0x02 0xEF
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Goal Speed value is saved. (see (3)Data Map)
- Data #1 : Desired Goal Speed value’s lower byte (address 0x15 : 0x00)
- Data #2 : Desired Goal Speed value’s upper byte (address 0x16 : 0x02)
※Goal Speedvalue Hex change (decimal numberàhexadecimal number) : 512à0x0200

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Goal Speed 2: Command packet to assign Goal Speed to 400(0x0190)
HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x15 0x90 0x01 0x60
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Goal Speed value is saved. (see (3)Data Map)
- Data #1 : Desired Goal Speed value’s lower byte (address 0x15 : 0x90)
- Data #2 : Desired Goal Speedvalue’s upper byte (address 0x16: 0x01)
※Goal Speedvalue Hex change (decimal numberàhexadecimal number) : 400 à0x0190

Goal Current1 : Command packet to assign Goal Current to 800(0x0320)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFF 0x01 0x05 0xF3 0x34 0x20 0x03 0xAF
F
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Goal Current value is saved. (see (3)Data Map)
- Data #1 : Desired Goal Current value’s lower byte (address 0x34: 0x20)
- Data #2 : Desired Goal Current value’s upper byte (address 0x35: 0x03)
※Goal Current value Hex change (decimal numberàhexadecimal number) : 800à0x0320

Goal Current 2: Command packet to assign Goal Current to 400(0x0190)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFF 0x01 0x05 0xF3 0x34 0x90 0x01 0x41
F
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : : the address which Goal current value is saved. (see (3)Data Map)
- Data #1 : Desired Goal Current value’s lower byte (address 0x34 : 0x90)
- Data #2 : Desired Goal Current value’s upper byte (address 0x35 : 0x01)
※Goal Current value Hex change (decimal numberàhexadecimal number) : 400 à0x0190

Stroke Limit 1 : Command packet to assign Short Stroke limit to 100(0x0064)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFF 0x01 0x05 0xF3 0x06 0x64 0x00 0x9C
F
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which short stroke limit value is saved. (see (3)Data Map)
- Data #1 : Desired Short stroke limit value’s lower byte (address 0x06 : 0x64)
- Data #2 : Desired Short stroke limit value’s upper byte (address 0x07 : 0x00)
※Stroke limit value Hex change(decimal numberàhexadecimal number) : 100 à 0x0064
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Stroke Limit 2: Command packet to assign Long Stroke limit to 3800(0x0ED8)

HEADER ID Size Command Factor Factor Factor Checksu
#1 #2 #3 m
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x08 0xD8 0x0E 0x18
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which long stroke limit value is saved. (see (3)Data Map)
- Data #1 : Desired Long stroke limit value’s lower byte (address 0x08 : 0xD8)
- Data #2 : Desired Long stroke limit value’s upper byte (address 0x09 : 0x0E)
※ Stroke limit value Hex change(decimal numberàhexadecimal number) : 3800 à 0x0ED8

Force On/Off : Command packet to cut off Motor power while communication is alive.
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data #1
0xFFFFFF 0x01 0x04 0xF3 0x80 0x00 0x87
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Force On/Off value is saved. (see (3)Data Map)
- Data : Desired Force On/Off Data byte (address0x80 : 0x00(Off) / 0x01(On))
- After force-off, automatically Force On when next goal position command is made.

Feedback Return Mode 1: Command packet to send Feedback packet for Load Data command only.
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data #1
0xFFFFFF 0x01 0x04 0xF3 0x10 0x01 0xF6
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Feedback Return Mode value is saved. (see (3)Data Map)
- Data : Feedback Return Mode Data (address 0x10 : 0x01)
( 1: Send Feedback packet only to Load Data(0xF3) Command)

Feedback Return Mode 2: Command packet to send Feedback packet for All commands.
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data #1
0xFFFFFF 0x01 0x04 0xF3 0x10 0x02 0xF5
- ID : Servo motor ID
- Command : Save data at respective address in order.
- Address : the address which Feedback Return Mode value is saved. (see (3)Data Map)
- Data : Feedback Return Mode Data (address 0x10 : 0x02)
( 2: Send Feedback packet to All)

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5) Load Data Send address and Get data feedback

*Load data is data read. To avoid communication collision, at least 10msec communication
delay is required in case of 57600bps baud rate.

l Present Position : Command packet to read present Position

Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Length
0xFFFFFF 0x00 0x04 0xF2 0x8C 0x02 0x7B
- ID : Servo motor ID
- Command : Read byte (equivalent to the Length number) from Address
- Address : Address where present position value is saved. (see (3)Data Map)
- Length: The number of byte to read from Address (present position value consists of 2byte.)
Feedback Packet
HEADER ID Size Error Factor #1 Factor #2 Checksum
0xFFFFFF 0x00 0x04 0x00 0xFF 0x07 0xF5
- ID : Servo motor ID / Error : Error indication during operation
- Factor 1 : Present position value’s lower byte (ex> 0xff)
- Factor 2 : Present position value’s upper byte (ex> 0x07)
※ Present position value Hex change(hexadecimal number à decimal number) : 0x07ffà2047

l Present Motor Operating Rate: Command packet to read present Motor Operating Rate.
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Length
0xFFFFFF 0x00 0x04 0xF2 0x90 0x02 0x77
- ID : Servo motor ID
- Command : Read byte (equivalent to the Length number) from Address
- Address : Address where present motor operating rate value is saved. (see (3)Data Map)
- Length: The number of byte to read from Address (present load value consists of 2byte.)
Feedback Packet
HEADER ID Size Error Factor #1 Factor #2 Checksum
0xFFFFFF 0x00 0x04 0x00 0xFF 0x03 0xF9
- ID : Servo motor ID
- Error : Error indication during operation
- Factor 1 : Present motor operating rate value lower byte (ex> 0xff)
- Factor 2 : Present motor operating rate value upper byte (ex> 0x03)
※ Present motor operating rate value Hex change(hexadecimal number
à decimal number) : 0x03ffà1023

l Present Voltage: Command packet to read present input Voltage

Command Packet
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Length
0xFFFFFF 0x00 0x04 0xF2 0x92 0x01 0x76
- ID : Servo motor ID
- Command : Read byte (equivalent to the Length number) from Address
- Address : Address where present voltage value is saved. (see (3)Data Map)
- Length: The number of byte to read from Address (present voltage value consists of 2byte.)

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Feedback Packet
HEADER ID Size Error Factor #1 Checksum
0xFFFFFF 0x00 0x03 0x00 0x7B 0x81
- ID : Servo motor ID
- Error : Error indication during operation
- Factor 1 : Present Voltage value byte (ex> 0x7B)
※ Present voltage value Hex change(hexadecimal number à decimal number):
0x7Bà123(12.3V)

6) Send Data Send "Address" and "Data", Then temporarily store it.
Command Packet
HEADER ID Size Command Factor #1 Factor #2 Factor #3 Checksum
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF4 0x86 0xFF 0x07 0x79
- Command packet for temporary store of goal position as 2047(0x07FF).

Feedback Packet
HEADER ID Size Error Checksum
0xFFFFFF 0x01 0x02 0x00 0xFC
- Feedback packet informing receipt of temporary store for servo goal position.
7) Execution Execute temporarily stored data that is made by Send Data.
Command Packet
HEADER ID Size Command Checksum
0xFFFFFF 0x01 0x02 0xF5 0x07
- Command packet to execute all temporarily stored data at the same time.
Feedback Packet
HEADER ID Size Error Checksum
0xFFFFFF 0x01 0x02 0x00 0xFC
- Feedback packet informing receipt of execution command for temporarily stored data. (Only
feedback in the Feedback Return Mode2)

8) Symmetric Store Save data in the same address of multiple servos.

l Goal Position : Command packet to assign multiple servo’s goal positions.
- Servo ID 1 : 1023(0x03FF), Servo ID 2 : 2047(0x07FF)
HEADER ID Size Command Factor #1 Factor #2
Address Length
0xFFFFFF 0xFE 0x0A 0x73 0x86 0x02

Factor #3 Factor #4 Factor #5 Factor #6 Factor #7 Factor #8 Checksum

1> ID 1> Data #1 1>Data #2 2>ID 2> Data #1 2> Data #2
0x01 0xff 0x03 0x02 0xFF 0x07 0xF1

- Command packet to assign respective goal position to multiple qty servo motors at the same time.
- Better synchronization without delay than respective command is made for each servo motor.
- ID : Broadcast ID (Command to all connected IDs)
- Command : Send data at the same time to the ID defined in Factor (1>ID, 2>ID …)
- Address : Address present position value is saved. (See (3)Data Map)
- Length: The number of byte to read from Address (present position value consists of 2byte.)
- feedback Packet : No Feedback.

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5. Optional Accessories
Metal Bracket (IR-MB02/IR-MB03/IR-MB04)
IR-MB02 is the LATERAL mounting bracket for 27mm stroke
IR-MB02
lineup only and MB04 is the VERTICAL bracket for 27mm
stroke mightyZAP.
For 41~90mm stroke lineup, they can be mounted via built-
in mounting holes on the case. Or, if you wish more flexible
mounting, you can use IR-MB03 for 40~90mm stroke
versions. The drawing is open at our website, so you may
make this bracket at their end.
IR-MB03

IR-MB04

PC USB Interface (IR-USB01)

USB Interface between mightyZAP and user’s PC. Through PC
software, mightyZAP manager, user is able to control below.
Parameter and Memory setting
Motion test
Voltage, temperature, present position, force monitoring
System initialization and Firmware update

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End-Bearing (IR-EB01)
Mount mightyZAP on applications using this end bearings
for most optimal installation. Put it on the rod end(M3)
and on the end of servo case(M2.5). Two end bearings (M3
& M2.5) to be packed in a set.

EZ Controller (IR-CT01)
ž mightyZAP controller/tester for customers who do not have their own
controller
ž Arduino based simple operation
ž Built-in basic control program, User programmable (Arduino
example provided)
ž Built-in position setting dials, position command button
switches and position command slide
ž Controllable through external switch or voltage level signal
ž 6 x I/O pins for analog/digital sensor connection
ž External communication terminal for Bluetooth or Zigbee
communication

Raspberry Pi HAT (IR-STS02)

IR-STS02 is a Raspberry Pi HAT(Hardware Attached on Top) which is
compatible with Raspberry Pi B3 or Raspberry Pi Zero.

With TTL/RS-485/PWM communication interface, power connector

and GPIO pins, user is able to control mightyZAP on Raspberry Pie.
API and Library can be downloaded from our web.

Extension Wire (IR-EW01~04)

Optional extension wires for applications which need longer wire
harness.
IR-EW01 :Extension wire - 3pin TTL 1000mm
IR-EW02 :Extension wire - 3pin TTL 2000mm
IR-EW03 :Extension wire - 4pin RS-485 2000mm
IR-EW04 :Extension wire - 4pin RS-485 4000mm
IR-EW08 :Extension wire - 3pin TTL 500mm
IR-EW09 :Extension wire - 4pin RS-485 500mm
IR-EW10 :Extension wire - 4pin RS-485 1000mm
ü Above extension wires are NOT shielded wires. For the customer’s application having
considerable electrical noise, please use shielded wires. Make shielded wires and we are
selling optional Molex connector housings and terminals for it.

Rod End Tips (IR-GT01)

The IR-GT01 Rod-End Grip tip is an accessory that prevents
physical damage to the application object by attaching a grip tip
with a soft pad onto the rod-end of mightyZAP.
For example, by attaching a rubber/silicone pad to the flat grip
tip, it can be used to push or touch an object that is easy to be
scratched or damaged, or to hold or lift an object using the frictional force of the silicone.

For more information for all available accessories, please visit our website – www.mightyzap.com.

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6. Warranty Service
6.1. Warranty & Service
The warranty period of mightZAP is 1 year from the date of purchasing the goods. Please prepare some evidence
showing the date of purchase and contact your product supplier or IR Robot.

Warranty service will not cover the malfunctions of product which are derived from customer's abuse, mistake,
or carelessness (including normal wearing of gear train, tear of wire harness and motor burnt-out). Please kindly
note that all service should be processed by designated engineers and voluntary disassembly or maintenance may
void warranty.

IR Robot Customer Service Team :

§ Tel : +82- 070-7600-9466

§ Address : (ZIP 14502) 1303, Bucheon Techno Park 401, Pyeongcheon-Ro 655, Wonmi-Gu, Gyeonggi-Do,
Korea.

§ E-mail : [email protected]

Thank you.

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