L12-xxPT-6 Datasheet

1. Features

• Micro size
• Precise position control
• Strong force comparing to the size
• Built-in Drive Circuitry
• TTL/PWM communication
• Parameter programmable on the Manager software

2. Specification

2.1 Common Specifications

Property	Value
Stroke	56mm
Rated Load	17N~78N according to gear ratio(See appendix.)
Recommended duty cycle	under 50%
Micro controller	32bit Arm Cortex
Position Resolution	4096 Resolution (A/D Converter)
Input Voltage	12.0V(Rated), 7.4V ~ 13 V(Operating)
Motor Type / Watt	Coreless DC Motor / 3.5 Watt
Current consumption	30mA(Idle), 380mA(Rated), 1.6A(Stall)
Position repeatability	Unidirectional less than 0.04mm(40um)
	Bydirectional less than +/0.08mm(80um)
Position sensor	10kΩ linearity potentiometer
Size, Weight	111.5(L)x36(W)x18(H)mm /124~127g (to be varied according to gear ratio) gear ratio)
Communication	TTL/PWM(Automatic signal recognition) → TTL Level voltage : 3.3 ~ 5.0V → PWM Pulse range : 900us(retracted) – 1500us(center) – 2100us(extended) → TTL Communication range : Max.4m
Protocol	IR Open Protocol (MODBUS is for Force control lineup only.)
Operating Temperatures	-10℃ ~ 60℃
Ingress protection	IP-54
Mechanical Backlash	0.03mm(30um)
Audible Noise	Max. 50db at 1m
Gear ratio	10:1(20PT,30PT) 20:1(50PT) /50:1(80PT)
Gear type	Engineering plastic gears(20PT,30PT) 4metal & 2engineering plastic gears(50PT,80PT)(Aluminum and stainless steel combination)
Rod type	stainless steel
Standard Accessory	1xHinge base 1x Hinge 1xHinge shaft 1xRod end tip 2x M3 NUT 3 x M2.5x6 screws 1x Molex wire harness (200mm) 1 x M3 spanner 1 x Socket set screwlex wire harness (200mm) 1 x M3 spanner 1 x Socket set screw
Connector Type (Male) in the Actuator	MOLEX 22-03-5035
Wire Harness	Molex(50-37-5033) to Molex(50-37-5033)/ 200mm / 0.08x60(22AWG)

2.2 Volatges

Parameter	Min	Norm	Max	Unit	Note
Supply voltage	7.4	12	13	V
Logic input voltage	2.0	3.3	5.5	V	TTL

2.3 Currents

Parameter	Min	Norm	Max	Unit	Note
Maximum peak Current	2.1	2.2	2.3	A	Stall Current
No Load Current	180	200	220	mA	No Load
Rated Load Current	420	450	480	mA	Rated Load
Idle Current	25	30	35	mA

2.4 Temperatures

Parameter	Min	Norm	Max	Unit	Note
StorageTemp.	-20	-	70	℃
Operating Temp.	-10	-	60	℃

2.5 Strokes

Parameter	Min	Norm	Max	Unit	Note
MIN Position	2.6	3.1	3.6	mm
MAX Position	58.1	58.6	59.1	mm
Stroke length		55.5		mm

⁕ Synchronize Min / Max Position by “Min / Max Position Calibration” feature on Manager software or Parameter Map.

2.6 PWM Signal

Parameter	Min	Norm	Max	Unit	Note
Min Pulse		900		us	Period 8~21ms
Neutral Pulse		1500		us
Max Pulse		2100		us

2.7 No Load Speed

Parameter	Min	Norm	Max	Unit	Note
Maximum Speed at 12.0V	72	80	88	mm/s	L12-20PT-x
	25.2	28	30.8	mm/s	L12-30PT-x
	9.45	10.5	11.55	mm/s	L12-50PT-x
	6.93	7.7	8.45	mm/s	L12-80PT-x

2.8 Load

Parameter Parameter	Min	Rated	Max	Unit	Note
Load at 12.0V		17.0		N	L12-20PT-x
		3.82		lbf
		1.73		kgf
		31.0		N	L12-30PT-x
		6.96		lbf
		3.16		kgf
		50.0		N	L12-50PT-x
		11.24		lbf
		5.09		kgf
		78		N	L12-80PT-x
		17.53		lbf
		7.95		kgf

⁕ 1 kgf = 9.8N, 1lbf = 4.45N

2.9 Self Lock Feature

Parameter	Min	Norm	Max	Unit	Note
Slef Lock	-	N/A	-		L12-20x-x
	-	Available	-		L12-30x-x
	-		-		L12-50x-x
	-		-		L12-80x-3

Tip

Self-lock feature :The force which actuator maintains its position by mechanical friction without motor power.

3. Reference

3.1 Load Vs Current

3.2 Load Vs Speed

3.3 Voltage Vs Stall Force

3.4 Voltage Vs Speed

3.5 Motor Operating Rate

3.6 PIN Map

PIN NUMBER(COLOR)	PIN NAME	FUNCTION
1(WHITE)	DATA
2(RED)	VCC
3(BLACK)	GND