12Lf-xxPT-27 Datasheet
1. Features
- Micro size
- Precise position control
- Force control by current feedback
- Speed control (1024 resolution)
- 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 | 27mm |
| Rated Load | 12N ~ 100N |
| Recommended duty cycle at rated load | 50% |
| Max apllicable Load | 2times rated load |
| Recommended duty cycle at max applicable load: | under 20% |
| 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 0.03mm(30um) |
| Bydirectional less than +/0.06mm(60um) | |
| Current Tolerance | ±15% at Over 50mA |
| Position sensor | 10kΩ linearity potentiometer |
| Size, Weight | 57.4(L)x29.9(W)x15(H)mm / 49~52g (to be varied according to 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 Robot Open Protocol (switchable to MODBUS RTU protocol) |
| Operating Temperatures | -10℃ ~ 60℃ |
| Ingress protection | IP-54 |
| Mechanical Backlash | 0.03mm(30um) |
| Audible Noise | Max. 50db at 1m |
| Gear ratio | 10:1(12PT,20PT,35PT) /20:1(55PT) /30:1(75PT) /50:1(100PT) |
| Gear type | Engineering plastic gears(12PT,20PT,35PT) 4metal & 2engineering plastic gears(55PT,75PT,100PT) (Aluminum and stainless steel combination) |
| Rod type | Stainless steel rod |
| 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 | ≤1.6 | A | Stall Current | ||
| No Load Current | ≤300 | mA | No Load | ||
| Rated Load Current | ≤400 | mA | 800mA or higher setting | ||
| Max Applicable Load Current | ≤600 | mA | 1.6A setting | ||
| Idle Current | ≤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 | 3.3 | 3.8 | 4.3 | mm | ⁕ |
| MAX Position | 30.3 | 30.8 | 31.3 | mm | |
| Stroke length | 27.0 | mm |
- Contact us if min position of multiple actuators should be exactly same.
- Synchronize Min / Max Position by “Min / Max Position Calibration” feature on Manager software or Parameter Map
2.6 PWM
| Parameter | Min | Norm | Max | Unit | Note |
|---|---|---|---|---|---|
| MIN Pulse | 900 | us | Period is 8ms over | ||
| Neutral Pulse | 1500 | us | |||
| MAX Pulse | 2100 | us |
2.7 No Load Speed
| Parameter | Min | Norm | Max | Unit | Note |
|---|---|---|---|---|---|
| Maximum Speed at 12.0V | 100.8 | 112.0 | 123.2 | mm/s | 12Lf-12x-27 |
| 75.6 | 84.0 | 92.4 | mm/s | 12Lf-20x-27 | |
| 26.1 | 29.0 | 31.9 | mm/s | 12Lf-35x-27 | |
| 13.95 | 15.5 | 17.05 | mm/s | 12Lf-55x-27 | |
| 9,27 | 10.3 | 11.3 | mm/s | 12Lf-75x-27 | |
| 6.93 | 7.7 | 8.47 | mm/s | 12Lf-100x-27 |
2.8 Load
| Parameter | Min | Rated | Max | Unit | Note |
|---|---|---|---|---|---|
| Load at 12.0V | 12.0 | 24.0 | N | 12Lf-12x-27 | |
| 2.69 | 5.39 | lbf | |||
| 1.22 | 2.44 | kgf | |||
| 20.0 | 30.0 | N | 12Lf-20x-27 | ||
| 4.49 | 8.98 | lbf | |||
| 2.04 | 4.08 | kgf | |||
| 35.0 | 70.0 | N | 12Lf-35x-27 | ||
| 7.87 | 15.73 | lbf | |||
| 3.57 | 7.14 | kgf | |||
| 55.0 | 110.0 | N | 12Lf-55x-27 | ||
| 12.37 | 24.72 | lbf | |||
| 5.61 | 11.22 | kgf | |||
| 75.0 | 150.0 | N | 12Lf-75x-27 | ||
| 16.8 | 33.6 | lbf | |||
| 7.64 | 15.28 | kgf | |||
| 100.0 | 200.0 | N | 12Lf-100x-27 | ||
| 22.48 | 44.94 | lbf | |||
| 10.19 | 20.4 | kgf |
⁕ 1 kgf = 9.8N, 1lbf = 4.45N
Caution
Use under rated load conditions as much as possible. When applying the maximum applicable load (2 times the rated load), set Goal current to 1600(1.6A) and reduce Duty cycle to 20% or less.
2.9 Self Lock Feature
| Parameter | Min | Norm | Max | Unit | Note |
|---|---|---|---|---|---|
| Slef Lock | - | N/A | - | 12Lf-12x-27 | |
| - | - | 12Lf-20x-27 | |||
| - | Available | - | 12Lf-35x-27 | ||
| - | - | 12Lf-55x-27 | |||
| - | - | 12Lf-75x-27 | |||
| - | - | 12Lf-100x-27 |
3. Reference
3.1 Voltage Vs Speed
3.2 Voltage Vs Stall Force
3.3 Goal Speed Vs Speed
3.4 Goal Current vs Stall Force
3.5 Goal Current vs Speed at Rated Load
3.6 PIN Map
| PIN NUMBER(COLOR) | PIN NAME | FUNCTION |
|---|---|---|
| 1(WHITE) | DATA | |
| 2(RED) | VCC | |
| 3(BLACK) | GND |
