37D Metal Gearmotors: Performance Summary and Table of Contents

37D Metal Gearmotors
Pololu 37D Metal Gearmotors are powerful brushed DC motors paired with 37mm-diameter gearboxes. There are
nine different gearbox options available, ranging from 6.3:1 to 150:1, and two different motor options: 12 V and 24 V.
The 24 V versions offer approximately the same speed and torque at 24 V as their 12 V counterparts do at 12 V, with
approximately half the current draw. This datasheet includes two sets of performance graphs for each version, one at
its nominal voltage and one at half of its nominal voltage. Each version is available with an integrated 64 CPR
quadrature encoder on the motor shaft.
Note: The original versions of these gearmotors had gearboxes with all
spur gears. In August 2019, these were replaced by functionally
identical “Helical Pinion” versions that feature helical gears for the first
stage of the gearbox, which reduces noise and vibration and improves
efficiency. The picture on the right shows the helical pinion gear and
first mating gear.
Performance summary and table of contents
Gear
No Load At Maximum Efficiency
Max Stall Extrapolation(2)
Rated Pololu Ratio Speed Current Speed Torque Current Output Power Torque Current Graph
Voltage Item # Pages
:1 RPM A RPM kg⋅mm A W W kg⋅mm A
4750 (1) 1 10,000 5
4747, 4757 6.25 1600 1300 4.9 1.2 6.4 12 30 5, 6
4748, 4758 10 1000 850 6.6 0.91 5.7 12 49 7, 8
4741,4751 18.75 530 470 10 0.76 5.0 12 85 9, 10
4742, 4752 30 330 280 18 0.78 5.1 12 140 11, 12
12 V 4743, 4753 50 200 0.2 180 22 0.66 4.0 10 210 5.5 13, 14
4744, 4754 70 150 130 32 0.68 4.2 10 (3) 270 15, 16
4745, 4755 102.08 100 87 42 0.72 3.8 8 (3) 340 17, 18
4746, 4756 131.25 76 66 60 0.74 4.1 6 (3) 450 19, 20
2828, 2829 150 67 58 65 0.72 3.8 6 (3) 490 21, 22
4690 (1) 1 10,000 5.5
4688, 4698 6.25 1600 1300 5.5 0.58 7.4 14 35 23, 24
4689, 4699 10 1000 850 7.5 0.49 6.6 14 55 25, 26
4681,4691 18.75 530 450 13 0.49 6.1 13 95 27, 28
4682, 4692 30 330 280 19 0.46 5.5 13 150 29, 30
24 V 4683, 4693 50 200 0.1 170 27 0.41 4.9 12 230 3.0 31, 32
4684, 4694 70 140 120 39 0.42 5.0 10 (3) 310 33, 34
4685, 4695 102.08 100 86 51 0.42 4.5 8 (3) 390 35, 36
4686, 4696 131.25 79 68 63 0.40 4.4 6 (3) 470 37, 38
4687, 4697 150 68 59 73 0.41 4.4 6 (3) 560 39, 40
Notes:
(1) Max efficiency data and performance graphs currently unavailable for the motors without gearboxes (items #4750 and #4690).
(2) Listed stall torques and currents are theoretical extrapolations; units will typically stall well before these points as the motors heat up.
Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit
for continuously applied loads is 100 kg⋅mm, and the recommended upper limit for instantaneous torque is 250 kg⋅mm. Stalls can also result
in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes; a general recommendation for brushed DC
motor operation is 25% or less of the stall current.
(3) Output power for these units is constrained by gearbox load limits; spec provided is output power at max recommended load of 100 kg⋅mm.
January 2020 – Rev 1.2 © Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
1
Dimensions (units: mm over [inches])
Gearmotor versions without encoders (items #2829, 4681–4689, 4741–4748) weight: 175 g to 195 g
ea e o a e o in e cee in i
e can a a e ea in e ea o
Gearmotor versions with encoders (items #2828, 4691–4699, 4751–4758) weight: 190 g to 210 g
ea e o a e o in e cee in i e can
a a e ea in e ea o
ea a e a o i a el in lon an a e e ina e
a e ale ea e i a in i c
2
Motor with encoder and no gearbox (items #4690, 4750) weight: 110 g
ea e o a e o in e cee in i e
can a a e e o o
ea a e a o i a el in lon an a e e ina e
a e ale ea e i a in i c
Using the encoder
Versions with encoders have additional electronics mounted on the rear of the motor. Two Hall-effect sensors are
used to sense the rotation of a magnetic disc on a rear protrusion of the motor shaft. The encoder electronics and
magnetic disc are enclosed by a removable plastic end cap. The following pictures show what the encoder portion
looks like with the end cap removed:
The quadrature encoder provides a resolution of 64 counts per revolution (CPR) 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, 20 cm ( ″) lea e ina e a e ale connector with a 2.54 mm ( ″)
pitch. This connector o k i an a ″ ale breakaway headers and Pololu male premium jumper and
precrimped wires. If this header is not convenient, the crimped wires can be pulled out of the 1×6 housing and used
with different crimp connector housings instead (e.g. 1×2 for the motor power and 1×1 housings for the other four
leads), or the connectors can be cut off entirely.
3
Lead Color Function
Red Motor power
Black Motor power
Green Encoder ground
Blue Encoder Vcc (3.5 V to 20 V)
Yellow Encoder A output
White Encoder B output
The Hall sensors require an input voltage, Vcc, between 3.5 V and 20 V and draw a maximum of 10 mA. The A and B
outputs are square waves from 0 V to Vcc approximately 90° out of phase. The speed of the motor can be
determined from the frequency, and the direction of rotation can be determined from the order of the transitions. The
following oscilloscope capture shows the A and B (yellow and white) encoder outputs using a 12 V motor at 12 V and
a Hall sensor Vcc of 5 V:
Counting both the rising and falling edges of both the A and B outputs results in 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.
4
Pololu Items #4747, #4757 (6.3:1 Metal Gearmotor 37D 12V) Performance at 12 V
100 18 1800
7
90
16 1600 no-load speed: 1600 rpm
6
Istall ≈ 5.9 A
80
14 1400 max power: 12 W
f(τ) = 1500 − 51τ at 15 kg⋅mm, f(τ) = 0.22 + 0.19τ
32% efficiency,
70 5
760 rpm, 3.1 A
12 1200
60 max efficiency: 47%

at 4.9 kg⋅mm, 6.4 W,
10 1000 4
1300 rpm, 1.2 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
8 800
3
40
6 600
30
2
4 400
20 τstall ≈
30 kg⋅mm
1
2 200
10
no-load current: 0.18 A

0 0 0 0
0 5 10 15 20 25 30
torque (kg⋅mm)
5
100 5.0 900
4.0
90 4.5
800 no-load speed: 800 rpm
3.5
80 4.0
700 Istall ≈ 3.2 A
max power: 3.2 W
at 8.4 kg⋅mm, 3.0
f(τ) = 750 − 45τ 32% efficiency, f(τ) = 0.21 + 0.18τ
70 3.5
380 rpm, 1.7 A
600
2.5
60 3.0

at 3.4 kg⋅mm, 2.1 W,
efficiency (%)
600 rpm, 0.82 A

speed (rpm)
50 2.5
current (A)
power (W)
2.0
400
40 2.0
1.5
300
30 1.5
1.0
200
20 1.0 τstall ≈
17 kg⋅mm
0.5
100
10 0.5

0 0.0 0 0.0
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
6
Pololu Items #4748, #4758 (10:1 Metal Gearmotor 37D 12V) Performance at 12 V
100 20 1200
90 18

6
80 16 Istall ≈ 5.8 A
max power: 12 W
f(τ) = 980 − 20τ f(τ) = 0.14 + 0.12τ
70 14 at 24 kg⋅mm,
5
800 34% efficiency,
max efficiency: 52% 490 rpm, 3.0 A
at 6.6 kg⋅mm, 5.7 W,
60 12 850 rpm, 0.91 A
4
efficiency (%)
speed (rpm)
50 10 600
current (A)
power (W)
3
40 8
400
30 6
2
20 4 τstall ≈
200 49 kg⋅mm
1
10 2

0 0 0 0
0 5 10 15 20 25 30 35 40 45
torque (kg⋅mm)
7
100 5.0 550
3.5
90 4.5 500
no-load speed: 490 rpm
Istall ≈ 3.1 A
450 3.0
80 4.0
max power: 3.3 W
f(τ) = 480 − 18τ at 13 kg⋅mm, f(τ) = 0.14 + 0.11τ
400 34% efficiency,
70 3.5 240 rpm, 1.6 A
2.5
350
max efficiency: 49%
60 3.0
at 4.6 kg⋅mm, 1.9 W,
400 rpm, 0.65 A
300 2.0
efficiency (%)
speed (rpm)
50 2.5
current (A)
power (W)
250
40 2.0 1.5
200
30 1.5
150 1.0
20 1.0 τstall ≈
100
27 kg⋅mm
0.5
10 0.5 50

0 0.0 0 0.0
0 5 10 15 20 25
torque (kg⋅mm)
8
100 18 600
6
550
16
Istall ≈ 5.4 A
500
80 5
14 f(τ) = 530 − 6.3τ f(τ) = 0.11 + 0.062τ
450 max power: 12 W
at 42 kg⋅mm,
70 35% efficiency,
12 400
at 10 kg⋅mm, 5.0 W, 4
470 rpm, 0.76 A
60
350
10
efficiency (%)
speed (rpm)
50 300
current (A)
power (W)
8
250
40
6 200
2
30
150
4
20 τstall ≈
100 85 kg⋅mm 1
2
10
50

0 0 0 0
0 10 20 30 40 50 60 70 80
torque (kg⋅mm)
9
100 5.5 300
3.5
5.0 275
Istall ≈ 3.2 A
250
4.5 3.0
80
f(τ) = 270 − 5.4τ f(τ) = 0.089 + 0.062τ
225 max power: 3.5 W
4.0
at 25 kg⋅mm,
70
35% efficiency, 2.5
200 max efficiency: 53% 130 rpm, 1.6 A
3.5 at 7.2 kg⋅mm, 1.7 W,
60 230 rpm, 0.53 A
175
3.0 2.0
efficiency (%)
speed (rpm)
50 150
current (A)
power (W)
2.5
125 1.5
40
2.0
100
30
1.5 1.0
75
20 τstall ≈
1.0
50 50 kg⋅mm
0.5
10 0.5 25

0 0.0 0 0.0
0 10 20 30 40 50
torque (kg⋅mm)
10
100 18 350
6
90 Istall ≈ 5.6 A
16
300
80 f(τ) = 320 − 2.2τ f(τ) = 0.11 + 0.038τ 5

14 max power: 12 W
at 72 kg⋅mm,
250 35% efficiency,
70
160 rpm, 2.8 A
at 18 kg⋅mm, 5.1 W, 4
280 rpm, 0.78 A
60
200
10
efficiency (%)
speed (rpm)
50
current (A)
power (W)
8
150
40
6
2
30
100
4
20 τstall ≈
140 kg⋅mm 1
50
2
10

0 0 0 0
0 20 40 60 80 100 120 140
torque (kg⋅mm)
11
100 5.0 180

90 4.5 Istall ≈ 3.0 A 3.0
160
f(τ) = 170 − 2.1τ f(τ) = 0.093 + 0.037τ

80 4.0 max power: 3.4 W
140
at 39 kg⋅mm,
2.5
36% efficiency,
70 3.5 83 rpm, 1.5 A

at 12 kg⋅mm, 1.7 W,
140 rpm, 0.53 A
60 3.0 2.0
100
efficiency (%)
speed (rpm)
50 2.5
current (A)
power (W)
80 1.5
40 2.0
60
30 1.5 1.0
40
20 1.0 τstall ≈
79 kg⋅mm
0.5
20
10 0.5

0 0.0 0 0.0
0 10 20 30 40 50 60 70
torque (kg⋅mm)
12
100 16 225
90
14
Istall ≈ 5.4 A
80 5
175 f(τ) = 200 − 1.0τ f(τ) = 0.080 + 0.026τ
theoretical max power: 10 W
12
at 100 kg⋅mm,
32% efficiency,
70
98 rpm, 2.7 A
150
max efficiency: 51% 4
10
at 22 kg⋅mm, 4.0 W,
60
180 rpm, 0.66 A
125
efficiency (%)
speed (rpm)
50 8
current (A)
power (W)
3
100
40
6
75
2
30
4
50
20 τstall ≈
210 kg⋅mm 1
2
25
10

0 0 0 0
0 50 100 150 200
torque (kg⋅mm)
13
100 5.0 120
90 4.5
3.5

Istall ≈ 3.2 A
80 4.0
max power: 3.2 W 3.0
f(τ) = 100 − 0.79τ at 63 kg⋅mm, f(τ) = 0.059 + 0.025τ
33% efficiency,
70 3.5
50 rpm, 1.6 A
80
max efficiency: 52%
2.5
at 15 kg⋅mm, 1.4 W,
60 3.0 88 rpm, 0.44 A
efficiency (%)
2.0
speed (rpm)
50 2.5 60
current (A)
power (W)
40 2.0
1.5
40
30 1.5
1.0
20 1.0 τstall ≈
20 130 kg⋅mm
0.5
10 0.5

0 0.0 0 0.0
0 20 40 60 80 100 120
torque (kg⋅mm)
14
100 16 160
5.5

90 Istall ≈ 5.2 A
14 140 5.0
80 f(τ) = 150 − 0.53τ f(τ) = 0.088 + 0.018τ

4.5
12 120 theoretical max power: 10 W
at 140 kg⋅mm,
70 33% efficiency, 4.0
73 rpm, 2.6 A
max efficiency: 52%
10 100 at 32 kg⋅mm, 4.2 W,
60 3.5
130 rpm, 0.68 A
3.0
efficiency (%)
speed (rpm)
50 8 80
current (A)
power (W)
2.5
40
6 60
2.0
30
1.5
4 40
20 τstall ≈
270 kg⋅mm 1.0
2 20
10
0.5

0 0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
15
100 5.0 80 3.5

90 4.5
Istall ≈ 3.1 A
70
3.0
80 4.0 f(τ) = 73 − 0.45τ f(τ) = 0.066 + 0.019τ
60
70 3.5 at 81 kg⋅mm,
31% efficiency,
36 rpm, 1.6 A
60 3.0 at 20 kg⋅mm, 1.3 W,
63 rpm, 0.45 A 2.0
efficiency (%)
speed (rpm)
50 2.5 40
current (A)
power (W)
1.5
40 2.0
30
30 1.5
1.0
20
20 1.0 τstall ≈
160 kg⋅mm
0.5
10
10 0.5

0 0.0 0 0.0
0 20 40 60 80 100 120 140 160
torque (kg⋅mm)
16
100 14 120
90
12
Istall ≈ 5.1 A
80 5
f(τ) = 100 − 0.29τ theoretical max power: 8.7 W f(τ) = 0.10 + 0.015τ
10 at 170 kg⋅mm,
70
28% efficiency,
80
50 rpm, 2.6 A
4
60
at 42 kg⋅mm, 3.8 W,
87 rpm, 0.72 A
efficiency (%)
speed (rpm)
50 60
current (A)
power (W)
6
40
40
2
30
4
20 τstall ≈
20 340 kg⋅mm 1
2
10

0 0 0 0
0 50 100 150 200 250 300
torque (kg⋅mm)
17
100 4.0 55
3.5
90 50
3.5 Istall ≈ 3.2 A
45 3.0
80 f(τ) = 50 − 0.24τ f(τ) = 0.082 + 0.015τ
theoretical max power: 2.6 W
3.0 at 100 kg⋅mm,
40 27% efficiency,
70 25 rpm, 1.6 A 2.5
35
2.5
60
30 2.0
max efficiency: 41%
at 29 kg⋅mm, 1.3 W,
efficiency (%)
speed (rpm)
50 2.0
current (A)
power (W)
43 rpm, 0.51 A
25
1.5
40
1.5
20
30
15 1.0
1.0
20 τstall ≈
10
210 kg⋅mm
0.5
0.5
10 5

0 0.0 0 0.0
0 50 100 150 200
torque (kg⋅mm)
18
100 14 80
5.0
Istall ≈ 4.8 A
90
70 4.5
12
f(τ) = 76 − 0.17τ f(τ) = 0.12 + 0.011τ
80
4.0
60
10 at 220 kg⋅mm,
70
30% efficiency, 3.5
38 rpm, 2.5 A
50
60
max efficiency: 45% 3.0
8
at 60 kg⋅mm, 4.1 W,
66 rpm, 0.74 A
efficiency (%)
speed (rpm)
50 40
current (A)
power (W)
2.5
6
40
2.0
30
30
4 1.5
20
20 τstall ≈ 1.0
450 kg⋅mm
2
10
10 0.5

0 0 0 0.0
0 50 100 150 200 250 300 350 400
torque (kg⋅mm)
19
100 4.0 40

Istall ≈ 3.1 A
90 3.0
3.5 35
f(τ) = 38 − 0.14τ f(τ) = 0.085 + 0.011τ

80 theoretical max power: 2.7 W
at 140 kg⋅mm,
3.0 30 29% efficiency, 2.5
19 rpm, 1.6 A
70
2.5 25
60 2.0
max efficiency: 43%

at 40 kg⋅mm, 1.3 W,
efficiency (%)
33 rpm, 0.51 A
speed (rpm)
50 2.0 20
current (A)
power (W)
1.5
40
1.5 15
30 1.0
1.0 10
20 τstall ≈
280 kg⋅mm
0.5
0.5 5
10

0 0.0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
20
100 14 70
5.0
Istall ≈ 4.8 A
90
4.5
12 60
f(τ) = 67 − 0.13τ f(τ) = 0.11 + 0.0095τ
80
4.0
10 50 theoretical max power: 8.4 W

70
at 250 kg⋅mm,
3.5
29% efficiency,
33 rpm, 2.4 A
60
3.0
8 40 max efficiency: 44%
at 65 kg⋅mm, 3.8 W,
58 rpm, 0.72 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
2.5
6 30
40
2.0
30 1.5
4 20
20 τstall ≈ 1.0
490 kg⋅mm
2 10
10 0.5

0 0 0 0.0
0 50 100 150 200 250 300 350 400 450
torque (kg⋅mm)
21
100 4.0 35

Istall ≈ 3.0 A 3.0
90
3.5
30
f(τ) = 33 − 0.11τ f(τ) = 0.086 + 0.010τ
80
2.5
3.0 theoretical max power: 2.5 W
25 at 150 kg⋅mm,
70 27% efficiency,
17 rpm, 1.5 A
2.5
2.0
60
20
max efficiency: 41%
at 43 kg⋅mm, 1.3 W,
efficiency (%)
speed (rpm)
50 2.0
current (A)
power (W)
28 rpm, 0.51 A
1.5
15
40
1.5
30 1.0
10
1.0
20 τstall ≈
300 kg⋅mm
0.5
5
0.5
10

0 0.0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
22
100 22.5 1800
3.5
20 1600
Istall ≈ 3.1 A
80 3.0
17.5 1400
f(τ) = 1500 − 44τ f(τ) = 0.11 + 0.086τ
max power: 14 W
70 at 17 kg⋅mm,
36% efficiency,
15 1200 2.5
at 5.5 kg⋅mm, 7.4 W,
60 1300 rpm, 0.58 A
12.5 1000
2.0
efficiency (%)
speed (rpm)
50
current (A)
power (W)
10 800
40 1.5
7.5 600
30
1.0
5 400
20 τstall ≈
35 kg⋅mm
0.5
2.5 200
10

0 0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
23
100 6.0 900
2.00
5.5 no-load speed: 820 rpm
90
800
5.0 1.75
Istall ≈ 1.7 A
80
700
4.5 max power: 3.8 W
f(τ) = 770 − 40τ f(τ) = 0.10 + 0.084τ
at 10 kg⋅mm,
4.0 600 390 rpm, 0.91 A
max efficiency: 48%

60
3.5 at 3.7 kg⋅mm, 2.4 W, 1.25
500 620 rpm, 0.41 A
efficiency (%)
speed (rpm)
50 3.0
current (A)
power (W)
1.00
400
2.5
40
0.75
2.0 300
30
1.5
0.50
200
20 τstall ≈
1.0 19 kg⋅mm
100 0.25
10
0.5

0 0.0 0 0.00
0 2 4 6 8 10 12 14 16 18
torque (kg⋅mm)
24
100 22.5 1200
90 3.5
20

1000
80 Istall ≈ 3.1 A
17.5 3.0
max power: 14 W
f(τ) = 990 − 18τ f(τ) = 0.077 + 0.055τ
at 28 kg⋅mm,
70
36% efficiency,
15 800 490 rpm, 1.6 A
at 7.5 kg⋅mm, 6.6 W,
60 850 rpm, 0.49 A
12.5
2.0
efficiency (%)
speed (rpm)
50 600
current (A)
power (W)
10
40
1.5
7.5 400
30
1.0
5
20 τstall ≈
200 55 kg⋅mm
0.5
2.5
10

0 0 0 0.0
0 10 20 30 40 50
torque (kg⋅mm)
25
100 6.0 550

5.5 500
90 1.8
Istall ≈ 1.7 A
5.0
450
80 1.6
f(τ) = 490 − 16τ f(τ) = 0.086 + 0.053τ
max power: 3.9 W
4.5
400 at 15 kg⋅mm,
250 rpm, 0.89 A
4.0
350
60 max efficiency: 51% 1.2
3.5
at 5.6 kg⋅mm, 2.3 W,
300 400 rpm, 0.38 A
efficiency (%)
1.0
speed (rpm)
50 3.0
current (A)
power (W)
250
2.5
40 0.8
200
2.0
30 0.6
150
1.5
20 τstall ≈ 0.4
100
1.0 31 kg⋅mm
10 0.2
0.5 50

0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
26
100 20 600
3.5

90
17.5
Istall ≈ 3.1 A
500 3.0
80
f(τ) = 530 − 5.5τ f(τ) = 0.077 + 0.031τ
max power: 13 W
15 450
at 48 kg⋅mm,
260 rpm, 1.6 A
400
max efficiency: 52%
12.5 at 13 kg⋅mm, 6.1 W,
60 450 rpm, 0.49 A
350
2.0
efficiency (%)
speed (rpm)
50 10 300
current (A)
power (W)
250 1.5
40
7.5
200
30
1.0
5 150
20 τstall ≈
100 95 kg⋅mm
0.5
2.5
10
50

0 0 0 0.0
0 10 20 30 40 50 60 70 80 90
torque (kg⋅mm)
27
100 5.5 300
5.0 275 no-load speed: 270 rpm 1.8

90
Istall ≈ 1.7 A
250
4.5
80 1.6
f(τ) = 270 − 5.1τ f(τ) = 0.060 + 0.032τ
max power: 3.6 W
225
4.0 at 26 kg⋅mm,
130 rpm, 0.88 A
200
3.5
max efficiency: 49%
60 1.2
at 8.2 kg⋅mm, 1.9 W,
175
220 rpm, 0.32 A
3.0
efficiency (%)
1.0
speed (rpm)
50 150
current (A)
power (W)
2.5
125
40 0.8
2.0
100
30 0.6
1.5
75
20 τstall ≈ 0.4
1.0
50 52 kg⋅mm
10 0.2
0.5 25

0 0.0 0 0.0
0 10 20 30 40 50
torque (kg⋅mm)
28
100 20 350
3.5
90 18 Istall ≈ 3.2 A
300
3.0
f(τ) = 320 − 2.1τ f(τ) = 0.066 + 0.021τ
80 16
max power: 13 W
250 at 76 kg⋅mm,
70 14 2.5
32% efficiency,
160 rpm, 1.6 A
max efficiency: 50%
60 12 at 19 kg⋅mm, 5.5 W,
200 280 rpm, 0.46 A
2.0
efficiency (%)
speed (rpm)
50 10
current (A)
power (W)
150 1.5
40 8
30 6
100 1.0
20 4 τstall ≈
150 kg⋅mm
50 0.5
10 2

0 0 0 0.0
0 20 40 60 80 100 120 140
torque (kg⋅mm)
29
100 5.5 180
1.8
90 5.0
160 Istall ≈ 1.6 A
1.6
4.5
80 f(τ) = 170 − 2.0τ f(τ) = 0.067 + 0.019τ
140
4.0 at 41 kg⋅mm,
70 34% efficiency,
120 83 rpm, 0.86 A
1.2
3.5
max efficiency: 49%
60
at 14 kg⋅mm, 1.9 W,
100 140 rpm, 0.33 A
3.0 1.0
efficiency (%)
speed (rpm)
50
current (A)
power (W)
2.5
80
0.8
40
2.0
60
0.6
30
1.5
40 0.4
20 τstall ≈
1.0
81 kg⋅mm
20 0.2
10 0.5

0 0.0 0 0.0
0 10 20 30 40 50 60 70 80
torque (kg⋅mm)
30
100 18 225
3.5

16 200
Istall ≈ 3.1 A
3.0
80
14 175 f(τ) = 200 − 0.85τ theoretical max power: 12 W f(τ) = 0.055 + 0.013τ
at 120 kg⋅mm,
31% efficiency,
70 2.5
99 rpm, 1.6 A
12 150
max efficiency: 50%

60 at 27 kg⋅mm, 4.9 W,
170 rpm, 0.41 A
10 125 2.0
efficiency (%)
speed (rpm)
50
current (A)
power (W)
8 100
1.5
40
6 75
30
1.0
4 50
20 τstall ≈
230 kg⋅mm
0.5
2 25
10

0 0 0 0.0
0 50 100 150 200
torque (kg⋅mm)
31
100 5.0 120
2.00
90 4.5
1.75
100
Istall ≈ 1.7 A
80 4.0
max power: 3.4 W
at 65 kg⋅mm,
f(τ) = 100 − 0.77τ 33% efficiency, f(τ) = 0.052 + 0.012τ 1.50
70 3.5 50 rpm, 0.86 A
80

60 3.0
at 20 kg⋅mm, 1.7 W,
86 rpm, 0.29 A
efficiency (%)
speed (rpm)
50 2.5 60
current (A)
power (W)
1.00
40 2.0
0.75
40
30 1.5
0.50
20 1.0 τstall ≈
20 130 kg⋅mm
0.25
10 0.5

0 0.0 0 0.00
0 20 40 60 80 100 120
torque (kg⋅mm)
32
100 18 160

16 3.0
140 Istall ≈ 2.9 A
80
14 f(τ) = 140 − 0.46τ f(τ) = 0.059 + 0.0092τ
120 theoretical max power: 11 W 2.5
at 160 kg⋅mm,
70 32% efficiency,
12 71 rpm, 1.5 A

60 at 39 kg⋅mm, 5.0 W, 2.0
120 rpm, 0.42 A
10
efficiency (%)
speed (rpm)
50 80
current (A)
power (W)
8 1.5
40
60
6
30 1.0
40
4
20 τstall ≈
310 kg⋅mm
0.5
20
2
10

0 0 0 0.0
0 50 100 150 200 250 300
torque (kg⋅mm)
33
100 5.0 80
1.8
90 4.5 no-load speed: 72 rpm
70 Istall ≈ 1.7 A
1.6
80 4.0 max power: 3.4 W
f(τ) = 71 − 0.39τ f(τ) = 0.049 + 0.0089τ
at 92 kg⋅mm,
60
32% efficiency,
36 rpm, 0.87 A 1.4
70 3.5
50
60 3.0
at 27 kg⋅mm, 1.7 W,
61 rpm, 0.29 A
1.0
efficiency (%)
speed (rpm)
50 2.5 40
current (A)
power (W)
0.8
40 2.0
30
30 1.5 0.6
20
20 1.0 0.4
τstall ≈
180 kg⋅mm
10
10 0.5 0.2

0 0.0 0 0.0
0 20 40 60 80 100 120 140 160 180
torque (kg⋅mm)
34
100 16 110
3.0
90 100
14 Istall ≈ 2.8 A
90
80 f(τ) = 99 − 0.26τ f(τ) = 0.064 + 0.0071τ 2.5
12
80 theoretical max power: 10 W
70 at 190 kg⋅mm,
29% efficiency,
70 49 rpm, 1.4 A
10 2.0
60
max efficiency: 44%
60 at 51 kg⋅mm, 4.5 W,
86 rpm, 0.42 A
efficiency (%)
speed (rpm)
50 8
current (A)
power (W)
1.5
50
40
6
40
1.0
30
30
4
20 τstall ≈
20
390 kg⋅mm
0.5
2
10 10

0 0 0 0.0
0 50 100 150 200 250 300 350
torque (kg⋅mm)
35
100 5.0 55
90 4.5 50 1.8
Istall ≈ 1.7 A
45
80 4.0 1.6
f(τ) = 49 − 0.20τ f(τ) = 0.048 + 0.0068τ

70 3.5 at 120 kg⋅mm, 1.4
29% efficiency,
25 rpm, 0.89 A
35
60 3.0 1.2
max efficiency: 44%
30 at 35 kg⋅mm, 1.5 W,
42 rpm, 0.29 A
efficiency (%)
1.0
speed (rpm)
50 2.5
current (A)
power (W)
25
40 2.0 0.8
20
30 1.5 0.6
15
20 1.0 τstall ≈ 0.4

10
240 kg⋅mm
10 0.5 0.2
5

0 0.0 0 0.0
0 50 100 150 200
torque (kg⋅mm)
36
100 14 90
3.0
90
12 Istall ≈ 2.6 A
2.5
70 f(τ) = 79 − 0.17τ at 240 kg⋅mm, f(τ) = 0.062 + 0.0054τ
30% efficiency,
10 39 rpm, 1.3 A
70
60 2.0
60
max efficiency: 46%
8
50 at 63 kg⋅mm, 4.4 W,
68 rpm, 0.40 A
efficiency (%)
speed (rpm)
50 1.5
current (A)
power (W)
40
6
40
30 1.0
30
4
20
20 τstall ≈
470 kg⋅mm 0.5
2
10
10

0 0 0 0.0
0 50 100 150 200 250 300 350 400 450
torque (kg⋅mm)
37
100 5.0 45
90 4.5 1.8
40
Istall ≈ 1.7 A
80 4.0 1.6
35 f(τ) = 40 − 0.13τ f(τ) = 0.050 + 0.0055τ

70 3.5 1.4
at 150 kg⋅mm,
30 29% efficiency,
20 rpm, 0.87 A
60 3.0 1.2
max efficiency: 43%

25
at 44 kg⋅mm, 1.5 W,
34 rpm, 0.29 A
efficiency (%)
1.0
speed (rpm)
50 2.5
current (A)
power (W)
20
40 2.0 0.8
15
30 1.5 0.6
10
20 1.0 τstall ≈ 0.4
300 kg⋅mm
5
10 0.5 0.2

0 0.0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
38
100 16 70
no-load speed: 68 rpm 2.75
Istall ≈ 2.7 A
90
14 2.50
60 f(τ) = 68 − 0.12τ f(τ) = 0.061 + 0.0047τ
80 2.25
12
50 theoretical max power: 10 W
70 2.00
at 280 kg⋅mm,
29% efficiency,
34 rpm, 1.4 A
10 1.75
60
max efficiency: 45%
40
at 73 kg⋅mm, 4.4 W,
59 rpm, 0.41 A 1.50
efficiency (%)
speed (rpm)
50 8
current (A)
power (W)
1.25
30
40
6
1.00
30
20
0.75
4
20 τstall ≈
0.50
560 kg⋅mm
10
2
10
0.25

0 0 0 0.00
0 100 200 300 400 500
torque (kg⋅mm)
39
100 5.0 35
1.8
Istall ≈ 1.7 A
90 4.5
1.6
30
f(τ) = 34 − 0.094τ f(τ) = 0.051 + 0.0047τ
80 4.0
1.4
25
70 3.5 at 180 kg⋅mm,
29% efficiency,
17 rpm, 0.88 A 1.2
60 3.0
at 53 kg⋅mm, 1.5 W, 1.0
29 rpm, 0.30 A
efficiency (%)
speed (rpm)
50 2.5
current (A)
power (W)
15 0.8
40 2.0
0.6
30 1.5
10
0.4
20 1.0 τstall ≈
360 kg⋅mm
5
10 0.5 0.2

0 0.0 0 0.0
0 50 100 150 200 250 300 350
torque (kg⋅mm)
40

37D Metal Gearmotors: Performance Summary and Table of Contents

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

37D Metal Gearmotors: Performance Summary and Table of Contents

Caricato da

Copyright:

Formati disponibili

37D Metal Gearmotors

Performance summary and table of contents

Using the encoder

Lead Color Function

Red Motor power

Black Motor power

Green Encoder ground

Blue Encoder Vcc (3.5 V to 20 V)

Yellow Encoder A output

White Encoder B output

60 max efficiency: 47%

no-load current: 0.18 A

500 max efficiency: 43%

600 rpm, 0.82 A

no-load current: 0.13 A

1000 no-load speed: 1000 rpm

no-load current: 0.15 A

no-load current: 0.11 A

no-load current: 0.12 A

no-load current: 0.091 A

80 f(τ) = 320 − 2.2τ f(τ) = 0.11 + 0.038τ 5

no-load current: 0.15 A

no-load speed: 170 rpm

f(τ) = 170 − 2.1τ f(τ) = 0.093 + 0.037τ

120 max efficiency: 54%

no-load current: 0.091 A

no-load current: 0.12 A

100 no-load speed: 100 rpm

no-load current: 0.088 A

no-load speed: 150 rpm

80 f(τ) = 150 − 0.53τ f(τ) = 0.088 + 0.018τ

no-load current: 0.11 A

no-load speed: 73 rpm

80 4.0 f(τ) = 73 − 0.45τ f(τ) = 0.066 + 0.019τ

no-load current: 0.082 A

no-load current: 0.12 A

no-load current: 0.087 A

no-load current: 0.13 A

no-load speed: 38 rpm

f(τ) = 38 − 0.14τ f(τ) = 0.085 + 0.011τ

max efficiency: 43%

no-load current: 0.095 A

10 50 theoretical max power: 8.4 W

no-load current: 0.12 A

no-load speed: 33 rpm

no-load current: 0.10 A

no-load current: 0.075 A

4.0 600 390 rpm, 0.91 A

max efficiency: 48%

no-load current: 0.064 A

no-load speed: 1000 rpm

no-load current: 0.070 A

no-load speed: 520 rpm

no-load current: 0.058 A

550 no-load speed: 550 rpm

no-load current: 0.068 A

5.0 275 no-load speed: 270 rpm 1.8

no-load current: 0.054 A

no-load current: 0.070 A

no-load current: 0.053 A

90 no-load speed: 200 rpm

max efficiency: 50%

no-load current: 0.069 A