The Smart Robot Servo is a metal-geared servo with the ability to replace the metal-gears it they become damaged during use. Damage to the gear set can occur if the servo receives a shock load to the system. This guide explains the process of removing and replacing the gears in the REV Smart Robot Servo (REV-41-1097) using the Replacement Gear Set (REV-41-1168).
To replace the gear set in the Smart Robot Servo you will need the following items:
Smart Robot Servo (REV-41-1097) – QTY 1
Replacement Gear Set (REV-41-1168) – QTY 1
Phillips Head Screwdriver (PH0) – QTY 1
The replacement gears are shipped un-greased. They need grease to run smoothly, so make sure the is enough grease in the gearbox, and if not, add equivalent of ~1/4” diameter sphere of grease to gears in the gearbox.
Step 1
Remove the four screws that hold the upper casing.
Step 2
Remove the upper casing. Orient the servo so that the servo wire is to the left-hand side.
Step 3
Remove the the reduction and output gears. The last silver gear is removed with the axle as one unit.
Step 4
Remove the axle pin from the silver gear and replace gear if necessary. Note: replacement gears are shipped un-greased. Please grease all replacement gears before installing.
Step 5
Attach silver gear to the axle pin.
Step 6
Place the new silver gear onto the servo unit making sure contact with the servo motor's output shaft first, then slide the axle into the axle opening.
Step 7
Place the second gear in place. Make sure the lower level of teeth on this gear mesh with the upper level of teeth on the silver gear.
Step 8
Next place the output shaft gear in position. Make sure to align the slot in the gear with the tab on the servo.
Step 9
Once the output shaft is in place correctly, it should be seated securely but not touching any other gears.
Step 10
Place the final gear on the middle shaft. It should first mesh with the output shaft on its lower set of teeth, and then its upper teeth will mesh with the gear on the right shaft.
Step 11
Finally, reattach the top plastic cover, making sure to place it directly down on top of the gears so that they don’t become misaligned. Reattach the 4 screws and the servo is ready to operate.
The REV Robotics Smart Robot Servo (SRS) (REV-41-1097) is a configurable metal-geared servo that takes the guesswork out of aligning and adjusting servo based mechanisms. One SRS can be used as a standard angular servo, a custom angular servo, and a continuous rotation servo by simply changing its settings with the SRS Programmer.
The Smart Robot Servo has a 25T output spline. A spline is a specific groove pattern cut into the shaft which allows the rotation of the servo motor to be transmitted to the attached Aluminum Servo Horn (REV-41-1363) or Servo Adapter. Splines are like keys, so only matched types will fit together. If the internal gears or spline of the REV Robotics Smart Robot Servo become damaged, they are replaceable using a Replacement Gear Set (REV-41-1168).
The REV Robotics Smart Robot Servo includes the following features:
Default operation:
270° motion over full input pulse range
Metal gears
Smart features
Programmable with REV SRS Programmer (REV-31-1108)
Servo Limit Mode
Set right and left angular limits
SRS will not move past limits
Continuous Mode
SRS spins continuously
Speed and direction set by input pulse
The REV Robotics SRS comes with the following:
REV Smart Robot Servo
Servo horn (arm) assortment
Servo horn mounting hardware
Out of the box, the SRS operates as a 270° servo. However, the REV SRS Programmer can reconfigure the SRS to set angular limits or switch it into a continuous rotation mode.
For more information on how to use the SRS programmer to change the servo modes see the Switching Operation Modes section
The default range for the SRS is 270°. This range is mapped to an input pulse range of 500μs to 2500μs with 1500μs as the center point. The image below describes the pulse-to-angle relationship.
The SRS can be configured with the SRS Programmer to operate in a continuous rotation mode. In this mode, the same input pulse range is mapped to direction and speed. The table below lists the pulse mapping for direction and speed.
The SRS can be easily configured with the SRS Programmer to limit right and left motion at two user-defined angles. Input pulses that occur past the limits will be ignored and the SRS will hold the limit angle. Any two angles can be set as limits as long as the left limit is left of the center dead band and the right limit is to the right of the center dead band. The table below shows the valid regions for left and right limits.
Once valid limits are programmed, the SRS will ignore any pulses that exceed the limits and hold the limit angle. For example, the image below exhibits what would happen a left limit of -30° and a right limit of +60° was set.
REV Robotics Servo Adapters fit 25T spline servos like the REV Robotics Smart Robot Servo. In addition to the variety pack of generic servo horns which come with the Smart Robot Servo, there are five other custom servo adapters which make using servos with the REV ION Build System easy.
Aluminum Servo Shaft Adapters (REV-41-1558) convert a 25T spline servo output shaft into a female 5mm hex socket. This adapter can be used to drive a hex shaft directly.
Aluminum Servo Horns (REV-41-1828) have a tapped hole pattern that can be directly mounted to any of the REV Robotics gears, wheels, or sprockets with the Motion Pattern.
Aluminum Double Servo Arms (REV-41-1820) have two tapped holes that can be directly mounted to any of the REV Robotics extrusion, channel, or brackets.
Aluminum 1/2in Rounded Hex Servo Shaft (REV-21-2892) converts a servo to a 1/2in Hex shaft for use with all other ION mechanical system components
Plastic 1/2in Hex Linkage Arm (REV-21-2895) used to control a linkage, flap, lever or pushrod
Plastic Face Mount Bracket The ION Servo Face Mount Bracket (REV-21-2896) allows for easy integration of Servo Motors into the ION System.
Parameter
Value and Units
Stall torque (at 6V)
13.5 kg-cm / 187.8 oz-in
Speed (at 6V)
0.13s/60º
Maximum angular range
270º
Gear Material
Brass
Spline Type
25T
Dimensions
40.2mm x 20.0mm x 38.0mm
Weight
2.05oz.
Parameter
Min
Typ
Max
Units
Voltage Rating
4.8
6.0
7.4
V
Stall Current (at 6V)
-
-
2.0
A
Input Pulse
500
1500
2500
μs
