Firstly what relationship did you use when setting up your related object. It should be zero or one : zero or one as there will only ever be one record linked from memory.
You will not be able just to pull the fields to the Service Req forms, you need to add the fields to forms on your child object. Add a new child panel to the ServiceReq layout which is from your related object. In the same way the problem form is called on the incident tab for example (just in this case the form would not be read only).
If you get stuck let me know and I will do some screenshots.