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ter gear and make sure all the gears properly mesh.
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3. Reassemble the bottom casing with screws.
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312 WORKING WITH SERVO MOTORS
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The HS-300 is representative of servos that are constructed without metal bushings or ball bearings for the output shaft. With minor variations, you can use these steps with other servos of similar design.
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APPLYING NEW GREASE
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The gears in a servo are lubricated with a white or clear grease. As you remove and replace the gears during your modification surgery it s inevitable that some of the grease will come off on your fingers. If you feel too much of the grease has come off, you ll want to apply more. Most any viscous synthetic grease suitable for electronics equipment will work, though you can also splurge and buy a small tube of grease especially made for servo gears and other mechanical parts in model cars and airplanes. When applying grease be sure to spread it around so that it gets onto all the mechanical parts of the servo that mesh or rub. However, avoid getting any of it inside the motor or on the electrical parts. Wipe off any excess. While it may be tempting, don t apply petroleum-based oil to the gears, such as threein-one oil or a spray lubricant like WD-40. Some oils may not be compatible with the plastics used in the servo, and spray lubricants aren t permanent enough.
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TESTING THE MODIFIED SERVO
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After reassembly but before connecting the servo to a control circuit, you ll want to test your handiwork to make sure the output shaft of the servo rotates smoothly. Do this by attaching a control disc or control horn to the output shaft of the servo. Slowly and carefully rotate the disc or horn and note any snags. Don t spin too quickly, as this will put undo stress on the gears. If you notice any binding while you re turning the disc or horn, it could mean you didn t remove enough of the mechanical stop on the output gear. Disassemble the servo just enough to gain access to the output gear and clip or file off some more.
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A CAUTION ON MODIFYING SERVOS
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Modifying a servo typically entails removing or gutting the potentiometer and clipping off any mechanical stops or nubs on the output gear. For all practical purposes, this renders the servo unusable for its intended use, that is, to precisely control the angular position of its output shaft. So, before modifying a servo, be sure it s what you want to do. It ll be difficult to reverse the process. Several sources of robotics parts provide premodified servos, which are a practical alternative if you don t care to do the modification yourself. The price is just a little higher than unmodified servos of the same brand and make.
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SOFTWARE FOR RUNNING MODIFIED SERVOS
Even though a servo has been modified for continuous rotation, the same digital pulses are used to control the motor. Keep the following points in mind when using to run modified servos:
MODIFYING A SERVO FOR CONTINUOUS ROTATION
I If you ve used fixed resistors in place of the original potentiometer inside the servo,
sending a pulse of about 1.5 ms will stop the motor. Decreasing the pulse width will turn the motor in one direction; increasing the pulse width will turn the motor in the other direction. You will need to experiment with the exact pulse width to find the value that will cause the motor to stop. I If you ve used a replacement 5K potentiometer in place of the original that was inside the servo, you have the ability to set the precise center point that will cause the motor to stop. In your software, you can send a precise 1.5 ms pulse, then adjust the potentiometer until the servo stops. As with fixed resistors, values higher or lower than 1.5 ms will cause the motor to turn one way or another. Specific software examples for running servos are provided in Part 5 of this book.
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