12Df Servo Series

- A Second-generation, Cost-effective Actuator with Enhanced Functionality over the Legacy D12 Series.

Position, Current and Speed Control w/ Position/Current Feedback
Brushed Cored Motor (12VDC)
27mm Stroke
Rated Load / Max Speed (No Load) : 6N / 36mm/s(12Df-6xx-27) and 12N / 12mm/s(12Df-12xx-27)
Max Allowable Load : Same as Rated Load (6N/12N)
Stall Force at Current (300mA / 100mA) : 28N / 15N(12Df-6xx-27) and 50N / 25N(12Df-12xx-27)
Data Communication : Half Duplex TTL/PWM and RS-485 (Built-in Drive)
Protocol : IR Robot open Protocol (default) / MODBUS RTU Protocol (switchable)
Gear Ratio 10:1 / Metal Alloy Rod
Mechanical Self Lock (Z Axis Use) : Applicable

Stall force and current control based on current feedback
Current feedback allows detection of objects and obstacles
Possible to maintain constant force for a certain time (Applicable to Gripper, etc.)
Precision position & Dynamic speed control
30μm Unidirectional repeatability & Position feedback
Absolute position sensing via Potentiometer (No Calibration needed)
32Bit Micro controller, High resolution (4096) A/D converter
1024 steps dynamic speed control (Fastest speed is default.)

Economical 12V Cored DC motor with 7.4 ~ 13V input voltage range
Metal alloy rod
Engineering plastic case
Current control allowing longer life cycle & safer control
Life-cycle Reference Data is on our website (Under 50% duty cycle recommended)
Vertical (Z axis) use is possible due to mechanical Self-lock (Certain models are not applicable, see the model chart)
Smart overload protection by calculation of cumulative current
LED indicator shows voltage/overload error status and also shows simple circuit damage diagnosis

Compact size for space constraints
Hassle-free, Built-in drive circuitry
Daisy chain serial connection between servos
Various mounting solutions
Detachable and 90° rotatable hinge design (Patented)
Various APIs / Libraries / Examples of programming languages (C# / C++ / Python / Java / LabView/ Raspberry Pi /Arduino etc.)
Dedicated PC Software (Parameter setting & simple motion testing) and PC USB Interface (IR-USB03) available (Optional)
LED Error indicator & LED self-diagnosis function
Paired with various controller types (PC / PLC / Arduino / Rasberry-Pi / RC Controller / Dedicated embedded board etc.)

Rated Load / Speed options (6N, 36mm/sec & 12N, 12mm/sec)
Two types of data communication options (TTL or RS-485)
IR open protocol and Modbus RTU Protocol available (refer to the dedicated user manuals)
TTL(Data comm.) or PWM(Pulse signal) is automatically recognized in TTL/PWM version
Customization is actively available
27mm stroke can be extended to 30mm using IR-USB03

Stroke	27mm
Repeatability	30μm(0.03mm) (Uni-directional)
Mechanical Backlash	0.03mm(30μm)
Rod Type	Metal Alloy Rod
Motor Type	Cored DC Motor
Rated Voltage	12V
Watt	0.37W
Recommended Duty Cycle	Max. 50%
Current Value Error	±15%at Over 50mA
Position Sensor	10KΩ Linear Potentiometer
Input Voltage Range	7.4 ~13V
Current Consumption	Idle	Rated	Stall
	35mA	100mA	300mA
Audible Noise	Approx. 50db at 1m
LED Indication	2 Error Indications (Input voltage, Overload)
Pulse Type / Pulse Range (When PWM is selected) “PT” version only	PWM (RC Model PWM Signal)
	900μs(Retraction)-1500 μs(Center)-2100μs (Extension)
Communication / Protocol	RS-485 or TTL / IR Robot open protocol(default) or MODBUS RTU protocol (switchable)
Ingress Protection	IP-54(Dust & Water Tight)
Dimension / Weight (Size excluding Rod-End Tip & Hinge)	57.5(L)x29.9(W)x15(H)mm/ 45g

Operating Temperature	-10℃~ 60℃
Wire Harness	TTL(PT version) : Molex to Molex Type (Molex 50-37-5033, 3pins) / 200mm Length, 0.08×60(22AWG)
	Or, RS485(F version) : Molex to Molex Type(Molex 0510650400, 4pins) / 200mm Length, 0.08×60(22AWG)

12Df Servo Series ​