Servo Motors

There are two multi-mode standard sized servos available from Studica, a torque and a fast version. Each servo allows for continuous and standard movement of the servo motor. In continuous mode, the servo will spin proportionally based on the input in the CW or CCW direction. In standard mode, the servo will act as a regular servo and have a range of motion of 300°. That is 150° CW and 150° CCW.

../../_images/servo-1.svg

Servo Specifications (Click to Open)
Mechanical Specs

Function

Torque Part# 75002

Fast Part# 75007

Size

40mm x 20.1mm x 38.3mm x 54mm

40mm x 20.1mm x 38.3mm x 54mm

Weight

64g

65g

Gear Type

Steel

Steel

Bearing

Dual Ball Bearings

Dual Ball Bearings

Spline

25T

25T

Case

Nylon & Fiberglass

Nylon & Fiberglass

Connector Wire

750mm ± 5mm (White, Red, Black)

750mm ± 5mm (White, Red, Black)

Motor

Metal Brush Motor

Metal Brush Motor

Water Resistance

No

No
Electrical Specs

Function

Torque @ 4.8V

Torque @ 6.0V

Fast @ 4.8V

Fast @ 6.0V

Idle Current

5mA

7mA

5mA

7mA

No Load Speed

0.25sec/60°(40 RPM)

0.2sec/60° (50 RPM)

0.057sec/60° (175 RPM)

0.046sec/60° (217RPM)

Running Current

130mA

150mA

120mA

130mA

Stall Torque

180.85oz-in

300oz-in

47.2oz-in

69.5oz-in

Stall Current

1500mA

1800mA

2200mA

2700mA
Control Specs

Function

Spec

Command Signal

Pulse Width Modulation

Amplifier Type

Digital Comparator

Pulse Width Range

500μS ~ 2500μS

Neutral Position

1500μS

Range of Motion

300° ± 5°

Dead band width

4μS

Rotating Direction

CW
Enviromental Conditions

Function

Range

Storage Temperature

-30°C ~ 80°C

Operating Temperature

-15°C ~ 70°C
Standard Enviroment

Function

Range

Temperature

25°C ± 5°C

Humidity

65% ± 10%
Switching Servo Modes

With the servos able to move in continuous or standard movements. The servo requires a way to know which mode it is in. The Servo Smart Programmer accomplishes this task.

Setting the Servo to Standard Mode

  • Connect the battery and servo to the programmer

  • Set the selection switch to S on the top left of the programmer

  • On the battery pack turn on the power

  • Press the P button for 5 seconds (All LEDs will flash when ready to let go)

Testing Standard Mode

  • Connect the battery and servo to the programmer

  • Set the selection switch to S on the top left of the programmer

  • On the battery pack turn on the power

  • Press the S button to set the servo to sweep mode

  • The Servo will now turn from -150° to 150°

  • Press the S button for a second time to enter manual mode

  • Pressing the L button will move the servo to -150°

  • Pressing the P button will move the servo to 0°

  • Pressing the R button will move the servo to 150°

  • Pressing the S button will turn the programmer off

Important

Remember to turn off the battery pack by sliding the power switch to off

Setting the Servo to Continuous Mode

  • Connect the battery and servo to the programmer

  • Set the selection switch to C on the top left of the programmer

  • On the battery pack turn on the power

  • Press the P button for 5 seconds (All LEDs will flash when ready to let go)

Testing Continuous Mode

  • Connect the battery and servo to the programmer

  • Set the selection switch to C on the top left of the programmer

  • On the battery pack turn on the power

  • Press the S button to set the servo to sweep mode

  • The Servo will now constantly turn between 360° CW and 360° CCW

  • Press the S button for a second time to enter manual mode

  • Pressing the L button will move the servo in CW direction at full speed

  • Pressing the P button will stop the servo

  • Pressing the R button will move the servo in CCW direction at full speed

  • Pressing the S button will turn the programmer off

Important

Remember to turn off the battery pack by sliding the power switch to off

Programming

Standard Servo

 1//import the Servo Library
 2import com.studica.frc.Servo;
 3
 4//Create the Servo Object
 5private Servo servo;
 6
 7//Constuct a new instance
 8servo = new Servo(port);
 9
10//Can then use this mutator to set the servo angle
11servo.setAngle(degrees); //Range 0° - 300°

The mutator method will allow you to set the angle of the servo

Continuous Servo

 1//import the Servo Continuous Library
 2import com.studica.frc.ServoContinous;
 3
 4//Create the Servo Continuous Object
 5private ServoContinous servo;
 6
 7//Constuct a new instance
 8servo = new ServoContinuous(port);
 9
10//Can then use this mutator to set the servo speed
11servo.set(speed); //Range -1 - 1 (0 Stop)

The mutator method will allow you to set the speed of the servo