FRCTools

R502       *Allowable servos. Servo actuators must meet the requirements below. Servos must be compatible with the power regulation devices they are ultimately used with (per R505) and may include additional servo position output interfaces (e.g., 4th Wire Position Feedback).

Table 12‑2: Servo Requirements at 6V

Actuator Class

Mechanical Output Power

Stall Current

Example Servos (including, but not limited to)

Servo

≤ 8 watts @6V

≤ 4 amps @6V

AndyMark High-Torque Servos (am-4954)

Axon MAX+ Servo (Axon MAX+)

DSSERVO 35KG Coreless (DS3235MG)

FEETECH Digital Servo (FT5335M-FB)

goBILDA Dual Mode Servo (2000-0025-0003)

REV Robotics Smart Servo (REV-41-1097)

Studica Multi-Mode Smart Servo (75002)

Linear Servo

N/A

≤ 1 amps @6V

Actuonix Micro Linear Servo (P8-100-252-12-R)

Hitec Linear Servo (HLS12-3050-6V)

Studica Linear Servo RC Actuator (75014)

Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer):

·         Mechanical Output Power = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s)

Servos must meet both requirements to be legal for use. Refer to the Inspection Quick Reference document for a list of servos that are pre-approved, otherwise teams must be able to provide documentation verifying servo specifications. Use the online calculator to verify output power compliance.

If a manufacturer does not provide 6V specs, any specs for voltages that exceed 6V are allowed to be used.

Stall current is the maximum stall current possible for the device at the specified voltage, regardless of any user or VENDOR adjustable software limits that may be available within the servo.

It is important to ensure the voltage provided by the intended power regulation device is within the operating voltage range of the desired servo. The REV Control Hub and REV Expansion Hub provide 5V to servos, and the goBILDA Servo Power Injector, REV Servo Power Module, Studica Servo Power Block, and REV Servo Hub provide 6V to servos. While virtually all servos are compatible with 6V, servos with an operating voltage range of 6-8.4 DCV, for example, may not work properly when only provided 5V.

 

Similar Rules

Rule R503
R503       *ROBOTS are limited to a total of 8 motors and 10 servos. A ROBOT may not have more than 8 motors and 10 servos from the allowable actuator lists per R501 and R502 for all MECHANISMS used in all configurations.
Rule R505
R505       *All actuators must be controlled and powered through approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, all actuator control signals must originate from a power regulating device. The only power regulating devices for actuators permitted on the ROBOT are:
Rule R501
R501       *Allowable motors. The only allowed motor actuators are:
Rule R619
R619       *Do not mix and match power on or between power regulation devices. The following rules must be adhered to when using power on any power regulation device (per R505):