This is a great DC motor for robotics applications. It can operate between 6V and 15V, and has built-in hall-effect quadrature encoders that can work with 3.3V and 5V microcontrollers. Its all-metal gears ensure long life, and its notched output shaft accepts a wide variety of wheel hubs, gears, pulleys, and other attachments.
DC Gear Motor Features
- Brushed motors have 100% all-metal gears for durability
- Built-in quadrature encoders provide accurate motor speed and direction feedback
- Encoder resolution: 48 counts per motor shaft revolution
- Gear ratio: 30:1 — thus 1440 encoder counts per shaft revolution
- Motor voltage requirements: 6-15V DC (82 rpm @ 6V)
- Motor no-load current: 0.22A @ 6V
- Motor stall current: 3.5A @ 6V (greater than 5A @ 12V)
- Maximum motor torque: 24.78 lbf-in (0.285 kgf-m)
- Encoder voltage requirements: 3.3-5V DC
- Encoder communication: 2-channel ENC V Quadrature (2-bit Gray code)
- Output shaft diameter: 6 mm, with 5.5 mm notch
- Mounting: requires six M3 screws
- Operating temperature range: 32 to 185 °F (0 to 85 °C)
- Dimensions: 4.32 inches (11 cm) length × 1.45 inches (3.68 cm) diameter
- Extension cable with 6-pin SIP header (0.1" spacing) easily connects to your motor driver and microcontroller
Encoder Communication Protocol This motor has integrated hall-effect quadrature encoders which can provide position and speed feedback as well as direction. These encoders require 3.3V to 5V DC to operate and should be powered at the same voltage as your microcontroller. The encoder A and B outputs are 90 degrees out of phase with one another and toggle between ENC_VSS and ENC_VDD with only one bit changing at a time (2-bit Gray code).
The encoders have a resolution of 48 counts per revolution of the motor shaft. With the motor's 30:1 gear ratio, this provides 1440 counts per rotation of the output shaft.
Gear Motor Pinout
|Pin ||Color ||Signal ||Description |
|1 ||Red ||M1 ||Motor Connection 1 |
|2 ||Black ||M2 ||Motor Connection 2 |
|3 ||Green ||ENC_VSS ||Supply / Signal Ground for Encoder |
|4 ||Blue ||ENC_VDD ||Supply for Encoder |
|5 ||Yellow ||ENC_A ||Encoder A Output |
|6 ||White ||ENC_B ||Encoder B Output |
J1 is the motor wire harness connector which is a 6-pin SIP socket with 0.1” spacing. You may cut this connector off if your system requires screw terminal connections. M1 / M2 will connect to the output of your relay, motor switch, motor driver, H-Bridge or other motor controller — 6V to 15V. Do not connect to MCU I/O pins or you could damage them. The encoder outputs (A / B) should be connected to two inputs on your microcontroller (3.3V to 5V) and read like a typical quadrature encoder. Optionally you could connect a single input if you don't need directional feedback. Pins 3 and 4 connect to GND and VDD (supply voltage) on your microcontroller.
See our Motor Drivers category to find a driver board that will work for you, or do a Motor Driver search to see kits or Arduino Shields that also may be able to drive this motor.
Motor Dimensions (inches)