[Andrew] had a servo damaged by someone connecting the power supply to the wrong pins (whoops) which fried the microcontroller and a logic level shifter. With a bit of reverse engineering, he successfully restored basic servo functionality by writing some new code. The new code implements only basic features, but that’s enough to save the device from the junk bin.
Why bother reverse engineering a servo? Well, if dollars are reasons then there are many for saving a HerkuleX DRS-0602 from the junk heap; they cost around 320 USD before shipping. Another reason to try is that the microcontroller turned out to be an AVR XMega, which gave [Andrew] confidence in writing some new code.
If you want to understand more about how these servos work, [Andrew] provides good photos of the insides and identifies the major components and their connections and functions. There are some mysteries (such as details of the motor and embedded encoder, which are FAULHABER 2232DBHHO) but [Andrew] figured out enough to write some basic code to allow the servo to work as a standard servo with a UART interface.
Sometimes curiosity drives reverse engineering and repair efforts, sometimes it’s cost, and sometimes it’s both. A $320 servo is certainly worth trying to save, and so are huge observatory telescopes with obsolete servo amps.