12Lf-xxPT-27 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
• 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