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	<title>Comments on: Tiny Servos as Continuous Rotation Gearmotors</title>
	<atom:link href="http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/feed/" rel="self" type="application/rss+xml" />
	<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/</link>
	<description>Random experiments, circuits, code, rapid prototyping, sometimes things to buy, and the odd tune by Tod E. Kurt.</description>
	<lastBuildDate>Tue, 09 Mar 2010 21:20:45 +0000</lastBuildDate>
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		<title>By: todbot</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-56157</link>
		<dc:creator>todbot</dc:creator>
		<pubDate>Thu, 24 Sep 2009 20:50:29 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-56157</guid>
		<description>Hi Enrico,
The &quot;0.12 secs / 60 degrees&quot; is a measure of how fast the servo moves.  That is, for it to move 60 degrees, it takes 0.12 seconds.  Different servos have different speed attributes, but they all have the same control pulse signaling. 

The control pulse is a pulse of around 1000 microseconds to 2000 microseconds, 50 times a second.  That&#039;s the same as saying a 1 millisecond to 2 millisecond pulse every 20 milliseconds.  Some servos can move more with a pulse shorter than 1000 microseconds or greater than 2000 microseconds; it depends on the servo.

Where ever you read about that .24 second pulse is wrong.

If you have an Arduino, you should check out some of the Arduino servo tutorial sketches, like this one:
  http://arduino.cc/en/Tutorial/Sweep</description>
		<content:encoded><![CDATA[<p>Hi Enrico,<br />
The &#8220;0.12 secs / 60 degrees&#8221; is a measure of how fast the servo moves.  That is, for it to move 60 degrees, it takes 0.12 seconds.  Different servos have different speed attributes, but they all have the same control pulse signaling. </p>
<p>The control pulse is a pulse of around 1000 microseconds to 2000 microseconds, 50 times a second.  That&#8217;s the same as saying a 1 millisecond to 2 millisecond pulse every 20 milliseconds.  Some servos can move more with a pulse shorter than 1000 microseconds or greater than 2000 microseconds; it depends on the servo.</p>
<p>Where ever you read about that .24 second pulse is wrong.</p>
<p>If you have an Arduino, you should check out some of the Arduino servo tutorial sketches, like this one:<br />
  <a href="http://arduino.cc/en/Tutorial/Sweep" rel="nofollow">http://arduino.cc/en/Tutorial/Sweep</a></p>
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		<title>By: Enrico</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-56152</link>
		<dc:creator>Enrico</dc:creator>
		<pubDate>Thu, 24 Sep 2009 19:03:39 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-56152</guid>
		<description>Hi *, the how-to is nice ;)
I have some questions because I&#039;m in trouble with my servo.

I have an &quot;ec-power sg90&quot; servo http://www.ecpower.com.hk/index.php?main_page=product_info&amp;cPath=67&amp;products_id=205 and I&#039;m not so sure I know how to read the specs.

They say: 0.12 seconds/60 degrees
Does it mean that the servo can turn from 0 degree-angle to 60 degree-angle where a 0.12 second pulse cause the servo to turn the shaft at the 60° position?


Reading some code on the web from people that have a servo with .24 sec/xx degrees I see that they use the .24 second pulse as the pulse for the xx degrees (maximum angle), so in my example I set the min to 600 ms and max to 1200 ms but trying some code on Arduino I discover that the servo can turn continuously (360°) by sending it a pulse long 600 ms every 20 ms, but if I try to move the servo from 0° to 180° using the standard servo library it wouldn&#039;t move more than 60°.

Can someone explain why the servo will move continuously by always sending it the 600 ms (0° angle i guess) pulse?

Thanks in advance and sorry for my bad english.
Cheers, Enrico</description>
		<content:encoded><![CDATA[<p>Hi *, the how-to is nice ;)<br />
I have some questions because I&#8217;m in trouble with my servo.</p>
<p>I have an &#8220;ec-power sg90&#8243; servo <a href="http://www.ecpower.com.hk/index.php?main_page=product_info&amp;cPath=67&amp;products_id=205" rel="nofollow">http://www.ecpower.com.hk/index.php?main_page=product_info&amp;cPath=67&amp;products_id=205</a> and I&#8217;m not so sure I know how to read the specs.</p>
<p>They say: 0.12 seconds/60 degrees<br />
Does it mean that the servo can turn from 0 degree-angle to 60 degree-angle where a 0.12 second pulse cause the servo to turn the shaft at the 60° position?</p>
<p>Reading some code on the web from people that have a servo with .24 sec/xx degrees I see that they use the .24 second pulse as the pulse for the xx degrees (maximum angle), so in my example I set the min to 600 ms and max to 1200 ms but trying some code on Arduino I discover that the servo can turn continuously (360°) by sending it a pulse long 600 ms every 20 ms, but if I try to move the servo from 0° to 180° using the standard servo library it wouldn&#8217;t move more than 60°.</p>
<p>Can someone explain why the servo will move continuously by always sending it the 600 ms (0° angle i guess) pulse?</p>
<p>Thanks in advance and sorry for my bad english.<br />
Cheers, Enrico</p>
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		<title>By: John Park</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-52793</link>
		<dc:creator>John Park</dc:creator>
		<pubDate>Fri, 19 Jun 2009 03:18:36 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-52793</guid>
		<description>Tod, you killed me with your use of the phrase &quot;these big, huge, honkin&#039; things&quot;. :) Great post, I&#039;ve gotta get some of those tiny servos.</description>
		<content:encoded><![CDATA[<p>Tod, you killed me with your use of the phrase &#8220;these big, huge, honkin&#8217; things&#8221;. :) Great post, I&#8217;ve gotta get some of those tiny servos.</p>
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		<title>By: Adam</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-52464</link>
		<dc:creator>Adam</dc:creator>
		<pubDate>Sun, 07 Jun 2009 13:06:46 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-52464</guid>
		<description>Instead of replacing the potentiometer, I was able to just decouple it from the gears - I cut the pot shaft and superglued it into place so it can&#039;t rotate, leaving it fixed at the central point. Saves two resistors and a bit of soldering!</description>
		<content:encoded><![CDATA[<p>Instead of replacing the potentiometer, I was able to just decouple it from the gears &#8211; I cut the pot shaft and superglued it into place so it can&#8217;t rotate, leaving it fixed at the central point. Saves two resistors and a bit of soldering!</p>
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		<title>By: Zementblog &#187; Arduino-Neuigkeiten</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-51519</link>
		<dc:creator>Zementblog &#187; Arduino-Neuigkeiten</dc:creator>
		<pubDate>Tue, 19 May 2009 19:43:52 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51519</guid>
		<description>[...] dann habe ich es ein wenig modifiziert (nach der simplen Idee von Tod), sodass es auch als kontinuierlich laufender Getriebemotor einsetzbar ist. Das mag vielleicht [...]</description>
		<content:encoded><![CDATA[<p>[...] dann habe ich es ein wenig modifiziert (nach der simplen Idee von Tod), sodass es auch als kontinuierlich laufender Getriebemotor einsetzbar ist. Das mag vielleicht [...]</p>
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		<title>By: Sean</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-51432</link>
		<dc:creator>Sean</dc:creator>
		<pubDate>Wed, 13 May 2009 01:12:37 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51432</guid>
		<description>Sorry, firewall at work will let the blog text through, but not the images (or flash). I got them by using my isp though.</description>
		<content:encoded><![CDATA[<p>Sorry, firewall at work will let the blog text through, but not the images (or flash). I got them by using my isp though.</p>
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		<title>By: todbot</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-51403</link>
		<dc:creator>todbot</dc:creator>
		<pubDate>Fri, 08 May 2009 00:04:50 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51403</guid>
		<description>Which images are you having issues with?  I don&#039;t see a problem.</description>
		<content:encoded><![CDATA[<p>Which images are you having issues with?  I don&#8217;t see a problem.</p>
]]></content:encoded>
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		<title>By: Sean</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-2/#comment-51402</link>
		<dc:creator>Sean</dc:creator>
		<pubDate>Fri, 08 May 2009 00:02:25 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51402</guid>
		<description>What happened to the images?</description>
		<content:encoded><![CDATA[<p>What happened to the images?</p>
]]></content:encoded>
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	<item>
		<title>By: todbot</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51317</link>
		<dc:creator>todbot</dc:creator>
		<pubDate>Wed, 29 Apr 2009 01:47:06 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51317</guid>
		<description>Thanks for that tip, Adam. I&#039;ve only used the SoftwareServo library, not the built-in Servo library. I didn&#039;t realize SoftwareServo had some extra functions Servo lacked.</description>
		<content:encoded><![CDATA[<p>Thanks for that tip, Adam. I&#8217;ve only used the SoftwareServo library, not the built-in Servo library. I didn&#8217;t realize SoftwareServo had some extra functions Servo lacked.</p>
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		<title>By: Adam B</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51316</link>
		<dc:creator>Adam B</dc:creator>
		<pubDate>Wed, 29 Apr 2009 01:02:44 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51316</guid>
		<description>Thanks for the quick write up, it was very helpful to me just starting out. Good job with the pictures too, great detail!

I ran in to one problem, setMaximumPulse(value) returned an error. I looked at the library and its not in there anymore with 0015. The min and max pulse is set in attach() This is what i used to zero it out, mine happened to be off by 72ms

  int minPulse = 544;
  int maxPulse = 2400;
  int pulseOffset = 72;
  myservo.attach(9, minPulse + pulseOffset, maxPulse + pulseOffset);</description>
		<content:encoded><![CDATA[<p>Thanks for the quick write up, it was very helpful to me just starting out. Good job with the pictures too, great detail!</p>
<p>I ran in to one problem, setMaximumPulse(value) returned an error. I looked at the library and its not in there anymore with 0015. The min and max pulse is set in attach() This is what i used to zero it out, mine happened to be off by 72ms</p>
<p>  int minPulse = 544;<br />
  int maxPulse = 2400;<br />
  int pulseOffset = 72;<br />
  myservo.attach(9, minPulse + pulseOffset, maxPulse + pulseOffset);</p>
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		<title>By: Stigern</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51307</link>
		<dc:creator>Stigern</dc:creator>
		<pubDate>Sun, 26 Apr 2009 22:19:10 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51307</guid>
		<description>This also works for the Mystery 9g servos, only you haveto chop off the top of the potmeter shaft.</description>
		<content:encoded><![CDATA[<p>This also works for the Mystery 9g servos, only you haveto chop off the top of the potmeter shaft.</p>
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		<title>By: Phil</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51280</link>
		<dc:creator>Phil</dc:creator>
		<pubDate>Sat, 25 Apr 2009 06:21:08 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51280</guid>
		<description>Brilliant. Thank you! I&#039;d been looking at a pile of gear reduction DC motors for a project, but was put off by their size and cost...this neatly solves both problems!</description>
		<content:encoded><![CDATA[<p>Brilliant. Thank you! I&#8217;d been looking at a pile of gear reduction DC motors for a project, but was put off by their size and cost&#8230;this neatly solves both problems!</p>
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		<title>By: FizzPOP! &#187; Blog Archive &#187; My First Arduino</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51274</link>
		<dc:creator>FizzPOP! &#187; Blog Archive &#187; My First Arduino</dc:creator>
		<pubDate>Fri, 24 Apr 2009 15:03:34 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51274</guid>
		<description>[...] it to make some noise (poss&#8217; via V.C.O) and then to get some cheap servo&#8217;s , use the continuous servo hack with some wheels and get it mobile,  cats are soooo last decade.  Hopefully when i get it [...]</description>
		<content:encoded><![CDATA[<p>[...] it to make some noise (poss&#8217; via V.C.O) and then to get some cheap servo&#8217;s , use the continuous servo hack with some wheels and get it mobile,  cats are soooo last decade.  Hopefully when i get it [...]</p>
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		<title>By: Tom</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51245</link>
		<dc:creator>Tom</dc:creator>
		<pubDate>Wed, 22 Apr 2009 18:04:16 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51245</guid>
		<description>Thank you for the excellent howto.  I&#039;ve been playing with the Arduino for a couple years now, but never made anything that moves yet, because servos were so expensive.  Thanks!</description>
		<content:encoded><![CDATA[<p>Thank you for the excellent howto.  I&#8217;ve been playing with the Arduino for a couple years now, but never made anything that moves yet, because servos were so expensive.  Thanks!</p>
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		<title>By: Arduino powered Braitenberg vehicle</title>
		<link>http://todbot.com/blog/2009/04/11/tiny-servos-as-continuous-rotation-gearmotors/comment-page-1/#comment-51226</link>
		<dc:creator>Arduino powered Braitenberg vehicle</dc:creator>
		<pubDate>Sat, 18 Apr 2009 16:38:23 +0000</pubDate>
		<guid isPermaLink="false">http://todbot.com/blog/?p=400#comment-51226</guid>
		<description>[...] The servos are hacked. Hacking servos means modifying them for continuous motion. A standard servo moves its tiny arm around from -90 to +90 degrees. But we want them to act as simple motors. There are quite a number of resources out there on how to hack a servo. One of the latest and very good documented one is from Tod. Check out his post about &#8220;Tiny Servos as Continuous Rotation Gearmotors&#8221;. [...]</description>
		<content:encoded><![CDATA[<p>[...] The servos are hacked. Hacking servos means modifying them for continuous motion. A standard servo moves its tiny arm around from -90 to +90 degrees. But we want them to act as simple motors. There are quite a number of resources out there on how to hack a servo. One of the latest and very good documented one is from Tod. Check out his post about &#8220;Tiny Servos as Continuous Rotation Gearmotors&#8221;. [...]</p>
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