Dimensions
| Size: | 37D x 70L mm [1] |
|---|---|
| Weight: | 225 g |
| Shaft diameter: | 6 mm |
General specifications
| Gear ratio: | 70:1 |
|---|---|
| Free-run speed @ 12V: | 150 rpm |
| Free-run current @ 12V: | 300 mA |
| Stall current @ 12V: | 5000 mA |
| Stall torque @ 12V: | 200 oz·in |
| Free-run speed @ 6V: | 75 rpm [2] |
| Free-run current @ 6V: | 250 mA [2] |
| Stall current @ 6V: | 2500 mA [2] |
| Stall torque @ 6V: | 100 oz·in [2] |
| Lead length: | 11 in |
Notes
1 – Length measurement does not include gearbox shaft or the raised area immediately around it.
2 – This motor will run at 6 V but is intended for operation at 12 V.
This gearmotor is a powerful 12V brushed DC motor with a 70:1 metal gearbox and an integrated quadrature encoder that provides a resolution of 64 counts per revolution of the motor shaft, which corresponds to 4480 counts per revolution of the gearbox’s output shaft. These units have a 0.61″-long, 6 mm-diameter D-shaped output shaft.
Key specs at 12 V: 150 RPM and 300 mA free-run, 200 oz-in (14 kg-cm) and 5 A stall.
Warning: Do not screw too far into the mounting holes as the screws can hit the gears. We recommend screwing no further than 3mm (1/8″) into the screw hole.
Using the Encoder
A two-channel Hall effect encoder is used to sense the rotation of a magnetic disk on a rear protrusion of the motor shaft. The quadrature encoder provides a resolution of 64 counts per revolution of the motor shaft when counting both edges of both channels. To compute the counts per revolution of the gearbox output, multiply the gear ratio by 64. The motor/encoder has six color-coded, 11″ (28 cm) leads terminated by a 1×6 female header with a 0.1″ pitch, as shown in the main product picture. This header works with standard 0.1″ male headers and our male jumper and precrimped wires. If this header is not convenient for your application, you can pull the crimped wires out of the header or cut the header off. The following table describes the wire functions:
| Color | Function |
|---|---|
| Red | Motor power (connects to one motor terminal) |
| Black | Motor power (connects to the other motor terminal) |
| Green | Encoder GND |
| Blue | Encoder Vcc (3.5 – 20 V) |
| Yellow | Encoder A output |
| White | Encoder B output |
The Hall sensor requires an input voltage, Vcc, between 3.5 and 20 V and draws a maximum of 10 mA. The A and B outputs are square waves from 0 V to Vcc approximately 90° out of phase. The frequency of the transitions tells you the speed of the motor, and the order of the transitions tells you the direction. The following oscilloscope capture shows the A and B (yellow and white) encoder outputs using a motor voltage of 12 V and a Hall sensor Vcc of 5 V:
By counting both the rising and falling edges of both the A and B outputs, it is possible to get 64 counts per revolution of the motor shaft. Using just a single edge of one channel results in 16 counts per revolution of the motor shaft, so the frequency of the A output in the above oscilloscope capture is 16 times the motor rotation frequency.
