Mini Linear Servo Actuator

Overview – Force Control Lineup (12Lf Series)

The 2^nd Generation of mightyZAP actuators supporting position, current and speed control. Both MODBUS RTU & IR Open Protocols available

Mini Size

Built-in Drive (RS-485 or PWM/TTL)

Dynamic Speed Control

Position Control

Current Control

Position/Current Feedback via Data Communication

12V Heavy Duty DC Coreless Motor

Force Control Lineup (12Lf Series) Features

Terminology – Load, Force and Goal Current Control

Notes for use in the Z (Vertical) axis

The 2^nd generation mightyZAP series supporting dynamic speed & current control as well as
position control along with position & current feedback
Built-in drive circuit, position sensor, 12mm diameter coreless DC motor and gear box
27/40/53/90mm stroke option
Rated Load of 12N ~ 100N according to gear ratio for each stroke
* Speed is inversely proportional to Rated Load, so the stronger the Rated Load, the slower the speed.
Support RS-485 or TTL / PWM communication
* TTL / PWM communication version operates by automatically recognizing the input TTL / PWM signal
* When using PWM communication, only the position command is available without position feedback (For feedback feature, use TTL or RS-485 communication)
Both MODBUS RTU and IR open protocols available

Force Control Lineup (12Lf Series) Specifications

Rated Load	Stroke	Communication		Rated Load / Max Speed(No Load)	Stall Force at Current (1.6A / 800mA / 1000mA)	Mechanical Self-Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type
Rated Load	Stroke	RS-485	TTL/PWM	Rated Load / Max Speed(No Load)	Stall Force at Current (1.6A / 800mA / 1000mA)	Mechanical Self-Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type
10N	40mm	12Lf-10F-40	12Lf-10PT-40	10N / 110mm/s	60N / 40N / 10N	No (Pay attention to application)	Lead Angle20° / 10:1 / Engineering Plastic Gears
	53mm	12Lf-10F-53	12Lf-10PT-53
	90mm	12Lf-10F-90	12Lf-10PT-90
12N	27mm	12Lf-12F-27	12Lf-12PT-27	12N / 110mm/s	100N / 60N / 8N
17N	40mm	12Lf-17F-40	12Lf-17PT-40	17N / 80mm/s	100N / 60N / 8N		Lead Angle15° / 10:1 / Engineering Plastic Gears
	53mm	12Lf-17F-53	12Lf-17PT-53
	90mm	12Lf-17F-90	12Lf-17PT-90
20N	27mm	12Lf-20F-27	12Lf-20PT-27	20N / 80mm/s	120N / 72N / 9.6N
27N	40mm	12Lf-27F-40	12Lf-27PT-40	27N / 28mm/s	160N / 96N / 12.8N	Yes (Applicable)	Lead Angle 5° / 10:1 / Engineering Plastic Gears
	53mm	12Lf-27F-53	12Lf-27PT-53
	90mm	12Lf-27F-90	12Lf-27PT-90
35N	27mm	12Lf-35F-27	12Lf-35PT-27	35N / 28mm/s	210N / 126N / 16.8N
42N	40mm	12Lf-42F-40	12Lf-42PT-40	42N / 15mm/s	240N / 144N / 19.2N		Lead Angle 5° / 20:1 / Metal Gear
42N	53mm	12Lf-42F-53	12Lf-42PT-53	42N / 15mm/s	240N / 144N / 19.2N
55N	27mm	12Lf-55F-27	12Lf-55PT-27	55N / 15mm/s	300N / 180N / 24N
78N	40mm	12Lf-78F-40	12Lf-78PT-40	78N / 7.7mm/s	420N / 252N / 33.6N		Lead Angle 5° / 50:1 / Metal Gears
78N	53mm	12Lf-78F-53	12Lf-78PT-53	78N / 7.7mm/s	420N / 252N / 33.6N
100N	27mm	12Lf-100F-27	12Lf-100PT-27	100N / 7.7mm/s	600N / 360N / 48N

Force Control Lineup (12Lf Series) Common Specifications

Repeatability		Stroke		Unidirectional
		27mm / 40mm		30μm(0.03mm)
		53mm		40μm(0.04mm)
		90mm		50μm(0.05mm)
Mechanical Backlash		0.03mm(30μm)
Rod Type		MetalAlloy Rod
Motor Type		CorelessMotor
Rated Voltage		12V
Motor Watt		26W
Recommended Duty Cycle		At Rated Load		At Max Applicable Load
Recommended Duty Cycle		Max 50%		Max 20%
Current Accuracy		±15%at Over 50mA
Position Sensor		10KΩlinear Potentiometer
Input Voltage Range		7 ~13V
Current Consumption		Idle	Rated	Stall
		Idle	Rated	Default	MAX
		20mA	380mA	800mA	1.6A
Audible Noise		Approx. 50db at 1m
LED Indication		Two Errors Indications (Input voltage, Overload)
Pulse Signal / Pulse Range		PWM (PT version, R/C Hobby Signal)
Pulse Signal / Pulse Range		900μs(Retracted)-1500μs(Center)-2100μs (Extended)
Data Communication / Protocol		RS-485 or TTL(PT version) / IR Robot open protocol
Data Communication / Protocol		RS-485 or TTL(PT version) / IR Robot open protocol
Ingress Protection		IP-54(Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)	27mm	57.5(L)x29.9(W)x15(H)mm/ 49~52g
	40mm	86.9(L)x36(W)x18(H)mm/ 96~99g
	53mm	111.5(L)x36(W)x18(H)mm/ 124~127g
	90mm	151.5(L)x36(W)x18(H)mm/ Approx. 177g
Operating Temperature		-10℃~ 60℃
Wire Harness		TTL(PTversion) : Molex to Molex Type (Molex 50-37-5033, 3pins) / 200mmlength, 0.08×60(22AWG)
Wire Harness		or RS485(F version) : Molex to Molex Type(Molex 0510650400, 4pins) / 200mm length, 0.08×60(22AWG)

* Design and Specification can be changed without prior notice for further improvement.

Dimension

Basic Accessories

Overview – Position Control Lineup (L12, D12, D7 Series)

The 1st generation of mightyZAP actuator supporting precise position control / position feedback through communication without speed and current control features. IR Open protocol provided.

Mini Size

Built-in Drive
(RS-485 or PWM/TTL)

Position Control

Position Feedback via Data Communication

12V Heavy Duty DC Coreless Motor

Economical 12V / 7.4V DC Cored Motor

Position Control Lineup (L12, D12, D7 Series) Features

The most basic product group of mightyZAP with Position control feature
Built-in drive circuit, position sensor, DC motor and gear box
Reasonable price compared to the Force control 12Lf series
Suitable for customers who do not need current and speed control
Stall force and speed adjustment within a limited range by adjusting the motor operating rate
12mm diameter coreless motor lineup and cored motor lineup
* The coreless motor is superior to the cored motor in terms of force and durability.
27/41/56/96mm stroke option (Based on coreless motor lineup)
Rated Load of 12N ~ 100N according to gear ratio for each stroke
* Speed is inversely proportional to Rated Load, so the stronger the Rated Load, the slower the speed.
Support RS-485 or TTL / PWM communication
* TTL / PWM communication version operates by automatically recognizing the input TTL / PWM signal
* When using PWM communication, only the position command is available without position feedback (For feedback feature, use TTL or RS-485 communication)
IR open protocol available

Position Control Lineup (L12 Series) Specifications

Rated Load	Stroke	Communication		Rated Load / Max Speed(No Load)	Mechanical Self-Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type	Motor Type / Wattt
Rated Load	Stroke	RS-485	TTL/PWM	Rated Load / Max Speed(No Load)	Mechanical Self-Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type	Motor Type / Wattt
12N	27mm	L12-12F-3	L12-12PT-3	12N/110.0mm/s	No (Pay attention to application)	Lead Angle 20° / 10:1 / Engineering Plastic Gears	Coreless Motor /26W
17N	41mm	L12-20F-4	L12-20PT-4	17N / 80.0mm/s		Lead Angle 15° / 10:1 / Engineering Plastic Gears
	56mm	L12-20F-6	L12-20PT-6
	96mm	L12-20F-10	L12-20PT-10
20N	27mm	L12-20F-3	L12-20PT-3	20N / 80.0mm/s
31N	41mm	L12-30F-4	L12-30PT-4	31N / 28.0mm/s	Yes (Applicable)	Lead Angle 5° / 10:1 / Engineering Plastic Gears
	56mm	L12-30F-6	L12-30PT-6
	96mm	L12-30F-10	L12-30PT-10
40N	27mm	L12-40F-3	L12-40PT-3	40N / 28.0mm/s
50N	41mm	L12-50F-4	L12-50PT-4	50N / 10.5mm/s		Lead Angle 5° / 30:1 / Metal Gear
50N	56mm	L12-50F-6	L12-50PT-6	50N / 10.5mm/s
64N	27mm	L12-64F-3	L12-64PT-3	64N / 10.5mm/s
78N	41mm	L12-80F-4	L12-80PT-4	78N / 7.7mm/s		Lead Angle 5° / 50:1 / Metal Gears
78N	56mm	L12-80F-6	L12-80PT-6	78N / 7.7mm/s
100N	27mm	L12-100F-3	L12-100PT-3	100N / 7.7mm/s

Position Control Lineup (D12, D7 Series) Specifications

Rated Load	Stroke	Input Volt : 12V		Input Volt : 7.4V		Rated Load / Max Speed(No Load)	Mechanical Self Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type	Motor Type / Wattt
Rated Load	Stroke	RS-485	TTL/PWM	RS-485	TTL/PWM	Rated Load / Max Speed(No Load)	Mechanical Self Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type	Motor Type / Wattt
6N	26mm	D12-6F-3	D12-6PT-3	D7-6F-3	D7-6PT-3	6N / 36mm/s	No (Not Applicable)	Lead Angle 15° / 10:1 / Engineering Plastic Gears	Cored Motor /4.2W
12N	26mm	D12-12F-3	D12-12PT-3	D7-12F-3	D7-12PT-3	12N / 12mm/s	Yes (Applicable)	Lead Angle 5° / 10:1 / Engineering Plastic Gears	Cored Motor /4.2W

Position Control Lineup (L12 Series) Common Specifications

Repeatability		Stroke		Unidirectional
		27mm / 41mm		30μm (0.03mm)
		56mm		40μm (0.04mm)
		96mm		50μm (0.05mm)
Mechanical Backlash		0.03mm (30μm)
Rod Type		Metal Alloy Rod
Motor Type		Coreless Motor
Motor Watt		26W
Recommended Duty Cycle		At Rated Load		At Max Applicable Load
Recommended Duty Cycle		Max 50%		Max 20%
Position Sensor		10KΩ linear Potentiometer
Input Voltage Range		7 ~ 13V (Rated Voltage : 12V)
Current Consumption		Idle	Rated		Stall
Current Consumption		20mA	380mA		1.6A
Audible Noise		Approx. 50db at 1m
Data Communication / Protocol		RS-485 or TTL(PT version) / IR Robot open protocol
LED Indication		Two Errors Indications (Input voltage, Overload)
Pulse Signal / Pulse Range		PWM (PT version, R/C Hobby Signal) / 900μs(Retracted)-1500μs(Center)-2100μs (Extended)
Ingress Protection		IP-54 (Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)	27mm	57.4(L)x29.9(W)x15(H)mm / 49~52g
	27mm	57.4(L)x29.9(W)x15(H)mm / 49~52g
	41mm	86.9(L)x36(W)x18(H)mm / 96~99g
	56mm	111.5(L)x36(W)x18(H)mm / 124~127g
	96mm	151.5(L)x36(W)x18(H)mm / 177g
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)

* Design and Specification can be changed without prior notice for further improvement.

Position Control Lineup (D12, D7 Series) Common Specifications

Repeatability	Stroke			Unidirectional
Repeatability	26mm			30μm (0.03mm)
Mechanical Backlash	0.03mm (30μm)
Gear Ratio	10:01
Gear Type	Engineering Plastic Gears
Rod Type	Engineering Plastic Rod
Motor Type	Cored Motor
Motor Watt	4.2W
Recommended Duty Cycle	At Rated Load			At Max Applicable Load
Recommended Duty Cycle	Max 50%			Max 20%
Position Sensor	10KΩ linear Potentiometer
Input Voltage Range	12V lineup : 7~13V (Rated : 12V) / 7.4V lineup : 6.5~8.9V(Rated 7.4V)
Current Consumption	7.4V Lineup			12V Lineup
	Idle	Rated	Stall	Idle	Rated	Stall
	30mA	250mA	0.48A	30mA	140mA	0.3A
Audible Noise	Approx. 50db at 1m
Data Communication / Protocol	RS-485 or TTL(PT version) / IR Robot open protocol
LED Indication	Two Errors Indications (Input voltage, Overload)
Pulse Signal / Pulse Range	PWM (PT version, R/C Hobby Signal) / 900μs(Retracted)-1500μs(Center)-2100μs (Extended)
Ingress Protection	IP-54 (Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)	57.4(L)x29.9(W)x15(H)mm / 49~52g
Size / Weight (Excluding rod-end & hinge)	57.4(L)x29.9(W)x15(H)mm / 49~52g
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)

* Design and Specification can be changed without prior notice for further improvement.

Dimension

Basic Accessories

Overview – Feedback Lineup (12Lb Series) Actuators

Without drive circuit, control DC motor and feedback with a high degree of freedom. Actuators for advanced users

Mini Size

12V Heavy Duty
DC Coreless Motor

Direct Motor &
Potentiometer Control
without drive circuit

Feedback Lineup (12Lb Series) Features

Mini size feedback actuators
Position sensor(Potentiometer), DC motor and other mechanical parts without drive circuitry
Suitable for advanced users who can directly control DC motor and potentiometer along with their own controller.
12mm diameter Heavy-duty coreless motor applied.
Rated Load of 12N ~ 100N options according to gear ratio for each stroke
* Speed is inversely proportional to Rated Load, so the stronger the Rated Load, the slower the speed.
30/45/60/100mm potentiometer range
Various mounting options
Rotatable hinge design (Patented)

Feedback Lineup (12Lb Series) Actuators Specifications

Rated Load	Potentiometer Range	Model#	Rated Load / Max Speed (No Load)	Mechanical Self Lock (Z Axis Use)	Lead Screw / Gear Ratio / Gear Type
10N	45mm	12Lb-10-45	10N / 110mm/s	No (Pay attention to application)	Lead Angle 20° / 10:1 / Engineering Plastic Gears
	60mm	12Lb-10-60
	100mm	12Lb-10-100
12N	30mm	12Lb-12-30	12N / 110mm/s
17N	45mm	12Lb-17-45	17N / 80mm/s		Lead Angle 15° / 10:1 / Engineering Plastic Gears
	60mm	12Lb-17-60
	100mm	12Lb-17-100
20N	30mm	12Lb-20-30	20N / 80mm/s
27N	45mm	12Lb-27-45	27N / 28mm/s	Yes (Applicable)	Lead Angle 5° / 10:1 / Engineering Plastic Gears
	60mm	12Lb-27-60
	100mm	12Lb-27-100
35N	30mm	12Lb-35-30	35N / 28mm/s
42N	45mm	12Lb-42-45	42N / 15mm/s		Lead Angle 5° / 20:1 / Metal Gear
42N	60mm	12Lb-42-60	42N / 15mm/s
55N	30mm	12Lb-55-30	55N / 15mm/s
78N	45mm	12Lb-78-45	78N / 7.7mm/s		Lead Angle 5° / 50:1 / Metal Gears
78N	60mm	12Lb-78-60	78N / 7.7mm/s
100N	30mm	12Lb-100-30	100N / 7.7mm/s

Feedback Lineup (12Lb Series) Common Specifications

Position Sensor		Absolute Position 10kΩ linear Potentiometer Unidirectional
Mechanical Backlash		0.03mm (30μm)
Rod Type		Metal Alloy Rod
Motor	Motor Type	12DC Coreless Motor / 33.6W (Stall)
	Input Voltage Range	DC6V -13.0V
	Motor Speed	26500±10%rpm (At Rated Volutage & No Load) / 23500±10%rpm (At Rated Volutage & Rated Load)
	Stall Torque	≥95g.cm
	Motor Current	At No Load	At Rated Load	Max(Stall)
	Motor Current	≤ 50mA	≤350mA	2.5A
Recommended Duty Cycle		At Rated Load	At Max Applicable Load
Recommended Duty Cycle		Max 50%	Max 20%
Audible Noise		Approx. 50db at 1m
Current Accuracy Position Sensor		IP-54 (Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)		57.4(L)x29.9(W)x15(H)mm / 48g
Operating Temperature		-10℃ ~ 60℃
Cable		0.08x60 (AWG 22), 30cm (2 from Motor, 3 from Potentiometer)

* Design and Specification can be changed without prior notice for further improvement.

Dimension

30mm Stroke

45mm Stroke

60mm Stroke

100mm Stroke

Basic Accessories

Overview – Limit Switch Lineup (12L, 12D Series) Actuators

Simple linear operation via built-in limit switches without drive circuit & potentiometer.

Mini Size

Built-in Limit Switches

22mm Stroke

12V Heavy Duty
DC Coreless Motor

Economical 12V /
7.4V DC Cored Motor

Limit Switch Lineup (12L, 12DX Series) Features

Built-in limit switches, DC motor and gear box without drive circuit & potentiometer.
Simple & easy linear operation (No servo data communication)
Reasonable cost comparing to 12Lf and L12 servo actuators
12mm diameter 12V coreless motor lineup and cored motor lineup and 12V / 7.4V Cored motor lineup
* The coreless motor is superior to the cored motor in terms of force and durability.
22mm stroke (Longer stroke options to be released later)
Rated Load of 12N ~ 100N according to gear ratio for each stroke
Stroke limit adjustable using external limit switch.

Limit Switch Lineup (12L Series) Actuators Specifications

Rated Load	Stroke	Input Volt. : 12V / Model#	Rated Load / Max Speed (No Load)	Mechanical Self-Lock (Z Axis Use)	Gear Ratio / Gear Type	Motor Type / Watt
Rated Load	Stroke	Input Volt. : 12V / Model#	Rated Load / Max Speed (No Load)	Mechanical Self-Lock (Z Axis Use)	Gear Ratio / Gear Type	Motor Type / Watt
35N	22mm	12L-35S-22	35N / 28mm/s	Yes (Applicable)	10:1/ Engineering Plastic gears	Coreless Motor / 26W
55N		12L-55S-22	55N / 15mm/s		20:1/ 4 Metal & 2 Engineering Plasticgears
100N		12L-100S-22	100N / 7.7mm/s		50:1/ 4 Metal & 2 Engineering Plasticgears

Limit Switch Lineup (12D Series) Actuators Specifications

Rated Load	Stroke	Input Volt. : 7.4 or 12V / Model#	Rated Load / Max Speed (No Load)	Mechanical Self-Lock (Z Axis Use)	Gear Ratio / Gear Type	Motor Type / Watt
Rated Load	Stroke	Input Volt. : 7.4 or 12V / Model#	Rated Load / Max Speed (No Load)	Mechanical Self-Lock (Z Axis Use)	Gear Ratio / Gear Type	Motor Type / Watt
12N	22mm	12D7-12S-22 (7.4V)	12N / 10mm/s	Yes (Applicable)	10:1 /Engineering Plastic Gears	Cored Motor / 4.2W
12N	22mm	12D-12S-22 (12V)	12N / 10mm/s	Yes (Applicable)	10:1 /Engineering Plastic Gears	Cored Motor / 4.2W

Limit Switch Lineup (12L Series) Common Specifications

Stroke	22mm
Repeatability (Unidirectional)	500μm (0.5mm)
Mechanical Backlash	0.03mm (30μm)
Rod Type	Metal Alloy Rod
Motor Type	Coreless Motor
Motor Watt	26W
Recommended Duty Cycle	At Rated Load	At Max Applicable Load
Recommended Duty Cycle	Max 50%	Max 20%
Input Voltage Range	7 ~ 13V
Current Consumption	Idle	Rated	Max(Stall)
Current Consumption	50mA	380mA	1.5A
Audible Noise	Approx. 50db at 1m
Ingress Protection	IP-54 (Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)	57.4(L)x29.9(W)x15(H)mm / 48g
Operating Temperature	-10℃ ~ 60℃
Wire Harness	0.08x60 (AWG 22), 30cm

* Design and Specification can be changed without prior notice for further improvement.

Limit Switch Lineup (12D Series) Common Specifications

Stroke	22mm
Repeatability (Unidirectional)	500μm(0.5mm)
Mechanical Backlash	0.03mm(30μm)
Rod Type	EngineeringPlastic Rod
Motor Type	CoredMotor
Motor Watt	26W
Recommended Duty Cycle	At Rated Load		At Max Applicable Load
Recommended Duty Cycle	Max 50%		Max 20%
Input Voltage Range	7.4V		12V
Input Voltage Range	5~8.9V		7 ~13V
Current Consumption	Input Voltage	Idle	Rated	Max(Stall)
	7.4V	50mA	250mA	360mA
	12V	50mA	140mA	250mA
Audible Noise	Approx. 50db at 1m
Ingress Protection	IP-54(Dust & Water Tight)
Size / Weight (Excluding rod-end & hinge)	57.4(L)x29.9(W)x15(H)mm/ 48g
Operating Temperature	-10℃~ 60℃
Wire Harness	AWG22