Sale! 4.41 Metal Gearmotor 25Dx63L mm HP 6V with 48 CPR Encoder View larger

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4.41 Metal Gearmotor 25Dx63L mm HP 6V with 48 CPR Encoder

0104110000070357

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This gearmotor consists of a high-power, 6 V brushed DC motor combined with a 4.4:1 metal spur gearbox, and it has an integrated 48 CPR quadrature encoder on the motor shaft, which provides 211.2 counts per revolution of the gearbox’s output shaft. The gearmotor is cylindrical, with a diameter just under 25 mm, and the D-shaped output shaft is 4 mm in diameter and extends 12.5 mm from the face plate of the gearbox. This gearmotor is also available without an encoder.

Key specifications:

voltage no-load performance stall extrapolation
6V 2150 RPM, 550 mA 1.5 kg⋅cm (20 oz⋅in), 6.5 A


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Overview

These cylindrical brushed DC gearmotors are available in a wide range of gear ratios and with five different motors (two power levels of 6 V motors and three power levels of 12 V motors). The gearmotors all have the same 25 mm diameter case and 4 mm diameter gearbox output shaft, so it is generally easy to swap one version for another if your design requirements change (though the length of the gearbox tends to increase with the gear ratio). The motor and encoder portion is available by itself (no gearbox) for each combination of power level and nominal operating voltage, and versions without the encoder are also available.

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. For these gearboxes, the recommended upper limit for instantaneous torque is 15 kg-cm (200 oz-in); we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of a second) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.


In general, these kinds of motors can run at voltages above and below their nominal voltages (they can begin rotating at voltages as low as 1 V); lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

These gearmotors are functionally identical to the previous versions without end caps (they use the same motor, encoder, and gearboxes). The black plastic end cap is easily removable if you need to access the encoder or want to slightly reduce the overall gearmotor size, but there is a little bit of base plastic that will remain, as shown in the picture below:

a.jpg


Details


Dimensions

The diagram below shows the dimensions of the 25D mm line of gearmotors (units are mm over [inches]). This diagram is also available as a downloadable PDF (171k pdf).

b.jpg


Dimensions of the Pololu 25D mm metal gearmotors with encoders. Units are mm over [inches].

Warning: Do not screw too far into the mounting holes as the screws can hit the gears. We recommend screwing no further than 6 mm (0.24″) 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 48 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 48. 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
c.jpg


25D mm metal gearmotor with 48 CPR encoder (with end cap removed).

d.jpg


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 6 V and a Hall sensor Vcc of 5 V:

e.jpg


Encoder A and B outputs for 25D mm HP 6V metal gearmotor with 48 CPR encoder (motor running at 6 V).


By counting both the rising and falling edges of both the A and B outputs, it is possible to get 48 counts per revolution of the motor shaft. Using just a single edge of one channel results in 12 counts per revolution of the motor shaft, so the frequency of the A output in the above oscilloscope capture is 12 times the motor rotation frequency.


Selecting the right gearmotor

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque.

07.jpg


Specifications

Dimensions

Size: 25D x 63L mm1
Weight: 95 g
Shaft diameter: 4 mm


General specifications

Gear ratio: 4.4:1
No-load speed @ 6V: 2150 rpm
No-load current @ 6V: 550 mA
Stall current @ 6V: 6500 mA
Stall torque @ 6V: 20 oz·in
Motor type: 6.5A stall @ 6V (HP 6V)
Lead length: 8 in2
Encoders?: Y


Notes:

1 Length measurement is from gearbox face plate to back of encoder cap (it does not include the output shaft). See dimension diagram for details.
2 May vary by a few inches.


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4.41 Metal Gearmotor 25Dx63L mm HP 6V with 48 CPR Encoder

4.41 Metal Gearmotor 25Dx63L mm HP 6V with 48 CPR Encoder

This gearmotor consists of a high-power, 6 V brushed DC motor combined with a 4.4:1 metal spur gearbox, and it has an integrated 48 CPR quadrature encoder on the motor shaft, which provides 211.2 counts per revolution of the gearbox’s output shaft. The gearmotor is cylindrical, with a diameter just under 25 mm, and the D-shaped output shaft is 4 mm in diameter and extends 12.5 mm from the face plate of the gearbox. This gearmotor is also available without an encoder.

Key specifications:

voltage no-load performance stall extrapolation
6V 2150 RPM, 550 mA 1.5 kg⋅cm (20 oz⋅in), 6.5 A


See Description for more details about the product.

Don't delay, buy today. Add to cart now!

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