# General Data ## Gearing Options
Gearing Option35:163:1150:1
Peak Power Point50N @16mm/s75N @10mm/s175N @4mm/s
Peak Efficiency Point24N @24mm/s38N @15mm/s75N @7mm/s
Max Speed (no load)32mm/s20mm/s8mm/s
Max Force (lifted)50N100N200N
Back Drive Force31N46N102N
## Stroke Options
Stroke Option50mm 100mm 140mm
Mass56g74g84g
Max Side Load (extended)40N30N20N
Closed Length (hole to hole)118mm168mm208mm
Feedback Potentiometer6kΩ+-50%11kΩ+-50%16kΩ+-50%
Feedback LinearityLess than 2.00%
Input Voltage6VDC
Stall Current650mA @ 12V
Operating Temperature-10C to 50C
Audible Noise60dB @ 45cm
Ingress ProtectionIP-54
Mechanical Backlash0.25mm
Maximum Static Force250N
Maximum Duty Cycle20%
## 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 {% code overflow="wrap" lineNumbers="true" fullWidth="true" %} ```javascript 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; } } ``` {% endcode %}
## Graphs {% tabs %} {% tab title="Load Curve" %}
{% endtab %} {% tab title="Current Curves" %}
{% endtab %} {% endtabs %}