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You ve already read that the typical servo responds to signals from 1 to 2 ms. While this is true in theory, in actual practice many servos can be fed higher and lower pulse values in order to maximize their rotational limits. The 1 2 ms range may indeed turn a servo one direction or another, but it may not turn it all the way in both directions. However, you won t know the absolute minimums and maximums for a given servo until you experiment with it. But take fair warning: Performing this experiment can be risky because operating a servo to its extremes can cause the mechanism to hit its internal stops. If left in this state for any period of time, the gears of the servo can become damaged. If you just must have maximum rotation from your servo, connect it to your choice of control circuitry. Start by varying the pulse width in small increments below 1 ms (1000 s), say in 10 s chunks. After each additional increment, have your control program swing the servo back to its center or neutral position. When during your testing you hear the servo hit its internal stop (the servo will chatter as the gears slip), you ve found the absolute lower-bound value for that servo. Repeat the process for the upper bound. It s not unusual for some servos to have a lower bound of perhaps 250 s and an upper bound of over 2200 s. Yet other servos may be so restricted that they cannot even operate over the normal 1 2 ms range. Keep a notebook of the upper and lower operating bounds for each servo in your robot or parts storehouse. Since there can be mechanical differences between servos of the same brand and model, number your servos so you can tell them apart. When it comes time to program them, you can refer to your notes for the lower and upper bounds for that particular servo.
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Modifying a Servo for Continuous Rotation
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Many brands and models of R/C servos can be readily modified to allow them to rotate continuously, like a regular DC motor. Such modified servos can be used as drive motors for your robot. Modified servos can be easier to use than regular DC motors since they already have the power drive electronics built in, they come already geared down, and they are easy to mount on your robot.
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BASIC MODIFICATION INSTRUCTIONS
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Servo modification varies somewhat between makes and models, but the basic steps are the same:
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MODIFYING A SERVO FOR CONTINUOUS ROTATION
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1. Remove the case of the servo to expose the gear train, motor, and potentiometer. This
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is accomplished by removing the four screws on the back of the servo case and separating the top and bottom. 2. File or cut off the nub on the underside of the output gear that prevents full rotation. This typically means removing one or more gears, so you should be careful not to misplace any parts. If necessary, make a drawing of the gear layout so you can replace things in their proper location! 3. Remove the potentiometer and replace it with two 2.7K-ohm 1 percent tolerance ( precision ) resistors, wired as shown in Fig. 20.9. This fools the servo into thinking it s always in the center position. An even better approach is to relocate the potentiometer to the outside of the servo case, so that you can make fine-tune adjustments to the center position. Alternatively, you can attach a new 5K- or 10K-ohm potentiometer to the circuit board outside the servo, as shown in Fig. 20.10. 4. Reassemble the case. In the following two sections we provide more detailed modification instructions for two popular R/C servos, the Futaba S-148, and the Hitec HS-300. While there are certainly many more brands and models of servos to choose from, these two represent a good cross-section of the internal designs used with low- and medium-priced servos. With minor variations, the steps that follow can be applied to similarly designed servos.
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