12Lf-xxF-40 Datasheet

1. Features

• Micro size
• Precise position control
• Stall force control by current feedback
• Speed control (1024 resolution)
• Strong force comparing to the size
• Built-in Drive Circuitry
• RS-485 communication
• Parameter programmable on the Manager software

2. Specification

2.1 Common Specifications

Property	Value
Stroke	40mm
Rated Load	10N ~ 78N
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	86.9(L)x36(W)x18(H)mm /96~99g (to be varied according to gear ratio)
Communication	RS485
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(10F,17F,27F) /20:1(42F) / 30:1(55F) /50:1(78F)
Gear type	Engineering plastic gears(10F,17F,27F) 4metal & 2engineering plastic gears(42F,55F,78F) (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 53253-0470
Wire Harness	Molex(51065-0400) to Molex(51065-0400)/ 200mm / 0.08x60(22AWG)

2.2 Volatges

Parameter	Min	Norm	Max	Unit	Note
Supply voltage	7.4	12	13	V
Logic input voltage	-7.0	-	12.0	V	RS-485

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
Max Applicable Load Current		≤600		mA
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	3.2	3.7	4.2	mm	⁕
MAX Position	43.2	43.7	44.2	mm
Stroke length		40.0		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 No Load Speed

Parameter	Min	Norm	Max	Unit	Note
Maximum Speed at 12.0V	104.4	116.0	127.6	mm/s	12Lf-10F-40
	45.6	84.0	92.4	mm/s	12Lf-17F-40
	26.1	29.0	31.9	mm/s	12Lf-27F-40
	13.95	15.5	17.05	mm/s	12Lf-42F-40
	9.27	10.3	11.33	mm/s	12Lf-55x-40
	6.93	7.7	8.47	mm/s	12Lf-78F-40

2.7 Load

Parameter	Min	Rated	Max	Unit	Note
Load at 12.0V		10.0	20.0	N	12Lf-10F-40
		2.24	4.49	lbf
		1.01	2.03	kgf
		17	34	N	12Lf-17F-40
		3.82	7.64	lbf
		1.73	3.47	kgf
		27	54	N	12Lf-27F-40
		6.07	12.13	lbf
		2.76	5.51	kgf
		42	84	N	12Lf-42F-40
		9.44	18.87	lbf
		4.29	8.57	kgf
		55.0	110.0	N	12Lf-55x-40
		12.36	24.72	lbf
		5.60	11.20	kgf
		78	156	N	12Lf-78F-40
		17.53	35.05	lbf
		7.96	15.91	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.

2.8 Self Lock Feature

Parameter	Min	Norm	Max	Unit	Note
Slef Lock	-	N/A	-		12Lf-10x-40
	-		-		12Lf-17x-40
	-	Available	-		12Lf-27x-40
	-		-		12Lf-42x-40
	-		-		12Lf-55x-40
	-		-		12Lf-78x-40

Tip

Self-Lock means the actuator can hold position by mechanical friction without motor power.

3. Reference Data

3.1 Voltage Vs Speed

Graph of speed change at no load according to input voltage. Data includes error, for reference only.

Note

Voltage Vs Speed data tested at Goal Current 800. Data includes approx +/-15% error.

3.2 Voltage Vs Stall Force

Stall Force measured at 800mA according to input voltage. Data includes error, for reference only.

Note

Voltage Vs Stall Force data tested at Goal Current 1600. Each Force value error is +/- 15%.

Caution

Stall force is for reference only. To prevent product damage, use at rated load in actual application.

3.3 Goal Speed Vs Speed

Shows no load speed change according to Goal Speed Parameter value at Goal Current 800. At less than rated load, time to reach max speed varies by load.

Note

Goal Speed Vs Speed data tested at Goal Current 800.

3.4 Goal Current vs Stall Force

Shows mightyZAP Stall Force for each Goal Current value. Stall Force measured at minimum speed to show pure current force.

TIP

Data shows motor force. Recommend setting Goal current to 3x actual load. If actual load and motor force are close, speed decreases. If equal, motor does not move.

Caution

Stall Force value error is +/- 15% for each Goal Current. Red marked areas have large error due to internal load and heat, for reference only. Continuous load over 1A causes current to drop and stabilize at 1A.

Double load setting

mightyZAP can be used up to 2x load. At 2x load, set Duty Rate to under 20%. **ex>

Load	Goal Current	Duty rate	Load	Goal Current	Duty Rate
20N(Rated)	800	Max. 50%	35N(Rated)	800	Max. 50%
40N(Max)	1600	Max. 20%	70N(Max)	1600	Max. 20%

3.5 Goal Current vs Speed at Rated Load

Shows speed change for each Goal Current value at rated load.

TIP

Goal Current Vs Speed data measured at rated load.

Caution

Speed data has approx +/-10% error. Red marked areas are where Stall Force and rated load are similar, so mightyZAP may not move. For reference only.

3.6 PIN Map

PIN NUMBER(COLOR)	PIN NAME	FUNCTION
1(YELLOW)	D-	RS-485-
2(WHITE)	D+	RS-485+
3(RED)	VCC	Power +
4(BLACK)	GND	Power -