Each actuator ships with two mounting brackets, #8-32 mounting hardware and male connector pins. The cable length is approximately 300mm and connector is a 0.1” pitch female socket connector.

Sizes Offered by WCP

Manual Updates

Product Updates

These nifty little linear servos act like pneumatic air cylinders, but are powered by an electronic servo instead of compressed air! This means that not only do they provide reliable linear motion, but also have the added bonus of being able to extend to any position in its range of motion, not just full in or full out!

These are self contained linear motion devices with position feedback for sophisticated position control capabilities, end of stroke limit switches for simple two position automation, or RC servo. Several gear ratios are available to give you varied speed/force configurations.

Notable Features

• Available in 50, 100, and 140 mm stroke lengths

• 35:1, 63:1, and 150:1 gear ratios

• Servo powered actuator does not take up a PDP slot

• Mounts like a pneumatic air cylinder

Gearing Options

Stroke Options

Sample Code

Sample code provided by FRC team 4414. The provided code is to control the position of the L16-R Miniature Linear Servo Actuators.

import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpiutil.math.MathUtil;
public class LinearServo extends Servo{
 double m_speed;
 double m_length;
 double setPos;
 double curPos;
 /**
 * Parameters for L16-R Actuonix Linear Actuators
 *
 * @param channel PWM channel used to control the servo
 * @param length max length of the servo [mm]
 * @param speed max speed of the servo [mm/second]
 */
 public LinearServo(int channel, int length, int speed) {
 super(channel);
 setBounds(2.0, 1.8, 1.5, 1.2, 1.0);
 m_length = length;
 m_speed = speed;
 }
 /**
 * Run this method in any periodic function to update the position estimation of your
servo
 *
 * @param setpoint the target position of the servo [mm]
 */
 public void setPosition(double setpoint){
 setPos = MathUtil.clamp(setpoint, 0, m_length);
 setSpeed( (setPos/m_length *2)-1);
 }
 double lastTime = 0;
 /**
 * Run this method in any periodic function to update the position estimation of your
servo
 */
 public void updateCurPos(){
 double dt = Timer.getFPGATimestamp() - lastTime;
 if (curPos > setPos + m_speed *dt){
 curPos -= m_speed *dt;
 } else if(curPos < setPos - m_speed *dt){
 curPos += m_speed *dt;
 }else{
 curPos = setPos;
 }
 }
 /**
 * Current position of the servo, must be calling {@link #updateCurPos()
updateCurPos()} periodically
 *
 * @return Servo Position [mm]
 */
 public double getPosition(){
 return curPos;
 }
 /**
 * Checks if the servo is at its target position, must be calling {@link #updateCurPos()
updateCurPos()} periodically
 * @return true when servo is at its target
 */
 public boolean isFinished(){
 return curPos == setPos;
 }
}

Graphs

Specifications

The L16 is designed to push or pull a load along its full stroke length. The speed of travel is determined by the load applied. (See the Load Curves). Actuator speed can be reduced by lowering the drive voltage. When power is removed the actuator will hold its position, unless the applied load exceeds the back drive force. Repeated stalling or stalling for more than a few seconds will shorten the life of the actuator significantly. Stalling is when an actuator is pushing a load that it cannot move. Actuators should be tested in each specific application to determine their effective life under those loading conditions and environment.

Wiring

1 - White – RC input signal (RC-servo compatible)

2 - Red – Power (+6 VDC)

3 - Black – Ground

Note: Reversing the polarity of pins 2 and 3 may permanently damage the actuator -R actuators are ideally suited to use in robotics and radio control models. The –R actuators or ‘linear servos’ are a direct replacement for regular radio controlled hobby servos. The desired actuator position is input to the actuator on lead 1 as a positive 5 Volt pulse width signal. A 1.0 ms pulse commands the controller to fully retract the actuator, and a 2.0 ms pulse signals it to fully extend. If the motion of the actuator, or of other servos in your system, seems erratic, place a 1–4Ω resistor in series with the actuator’s red V+ lead wire. L16 –R Linear Servos are the only 6 volt models in the L16 range because they are designed to work with typical RC receivers and battery packs. Consequently they also are compatible with Arduino control boards, VEX Microcontrollers and many other similar boards designed for robotics.