6V 210 RPM 10Kg*cm DC Gear Motor with Encoder

This DFRobot gear motor runs on 6 V and has a 34:1 metal gearbox and a two-channel Hall encoder. The encoder signals allow speed, direction and distance to be measured and controlled, for example for the wheels of a robot. Without the encoder the motor can be run like a normal DC motor; it starts turning from about 1 V.

Important: The stall current is 3.2 A. Size the motor driver for this current.

Recommended Accessories:

• 7A Dual DC Motor Driver
• 4mm Hex Coupling for Motor and Wheel 2 pcs

Features:

• 34:1 metal gearbox, 210 rpm without load
• Hall encoder with channels A and B, supply 3.3 V or 5 V
• D-shaft 4 mm, 8 mm long
• Connection via a 6-pin JST cable
• Pinout according to the DFRobot wiki: 1 motor GND, 2 encoder GND, 3 encoder A, 4 encoder B, 5 encoder VCC 3.3 V or 5 V, 6 motor VCC 6 V
• Use an interrupt pin to read the encoder, on the Arduino UNO D2 or D3

Application Examples:

• Driving robots and small mobile platforms
• Speed control with PID
• Drives with distance measurement

Documentation:

• Wiki DFRobot FIT0521 with example code for encoder and PID control

Technical Data:

• Manufacturer: DFRobot
• Manufacturer SKU: FIT0521
• Motor rated voltage: 6 V DC
• Encoder voltage: 3.3 V or 5 V
• Gear ratio: 34:1 (exactly 34.02:1)
• No-load speed: 210 rpm at 0.13 A
• Maximum efficiency: 2.0 kg·cm, 170 rpm, 0.6 A
• Maximum power: 5.2 kg·cm, 110 rpm, 3.1 W, 1.1 A
• Stall torque: 10 kg·cm (about 0.98 Nm)
• Stall current: 3.2 A
• Encoder: 11 pulses per motor revolution, at the output shaft 11 × 34.02 = 374 pulses per revolution
• Output shaft: D-shaped, Ø 4 mm, 8 mm long
• Dimensions: 52 × Ø 24.4 mm
• Weight: 100 g (DFRobot: 96 g)

Scope of Delivery:

• 1× 6V 210 RPM 10Kg*cm DC Gear Motor with Encoder
• 1× JST 6-pin connection cable 20 cm