General Data

Gearing Options

Gearing Option	35:1	63:1	150:1
Peak Power Point	50N @16mm/s	75N @10mm/s	175N @4mm/s
Peak Efficiency Point	24N @24mm/s	38N @15mm/s	75N @7mm/s
Max Speed (no load)	32mm/s	20mm/s	8mm/s
Max Force (lifted)	50N	100N	200N
Back Drive Force	31N	46N	102N

Stroke Options

Stroke Option	50mm	100mm	140mm
Mass	56g	74g	84g
Max Side Load (extended)	40N	30N	20N
Closed Length (hole to hole)	118mm	168mm	208mm
Feedback Potentiometer	6kΩ+-50%	11kΩ+-50%	16kΩ+-50%

Feedback Linearity	Less than 2.00%
Input Voltage	6VDC
Stall Current	650mA @ 12V
Operating Temperature	-10C to 50C
Audible Noise	60dB @ 45cm
Ingress Protection	IP-54
Mechanical Backlash	0.25mm
Maximum Static Force	250N
Maximum Duty Cycle	20%

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.

Sample Code

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

Load Curve

Current Curves