pololu-37d-metal-gearmotors-rev-1-2

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
Rated
Voltage
12 V
24 V
Pololu
Item #
4750 (1)
4747, 4757
4748, 4758
4741,4751
4742, 4752
4743, 4753
4744, 4754
4745, 4755
4746, 4756
2828, 2829
4690 (1)
4688, 4698
4689, 4699
4681,4691
4682, 4692
4683, 4693
4684, 4694
4685, 4695
4686, 4696
4687, 4697
Gear
Ratio
No Load
At Maximum Efficiency
Speed
Current
Speed
Torque
Current
Output
Max
Power
:1
RPM
A
RPM
kg⋅mm
A
W
W
1
6.25
10
18.75
30
50
70
102.08
131.25
150
1
6.25
10
18.75
30
50
70
102.08
131.25
150
10,000
1600
1000
530
330
200
150
100
76
67
10,000
1600
1000
530
330
200
140
100
79
68
0.2
0.1
1300
850
470
280
180
130
87
66
58
4.9
6.6
10
18
22
32
42
60
65
1.2
0.91
0.76
0.78
0.66
0.68
0.72
0.74
0.72
6.4
5.7
5.0
5.1
4.0
4.2
3.8
4.1
3.8
12
12
12
12
10
10 (3)
8 (3)
6 (3)
6 (3)
1300
850
450
280
170
120
86
68
59
5.5
7.5
13
19
27
39
51
63
73
0.58
0.49
0.49
0.46
0.41
0.42
0.42
0.40
0.41
7.4
6.6
6.1
5.5
4.9
5.0
4.5
4.4
4.4
14
14
13
13
12
10 (3)
8 (3)
6 (3)
6 (3)
Stall Extrapolation(2)
Torque
Current
kg⋅mm
A
5
30
49
85
140
210
270
340
450
490
5.5
35
55
95
150
230
310
390
470
560
5.5
3.0
Graph
Pages
5, 6
7, 8
9, 10
11, 12
13, 14
15, 16
17, 18
19, 20
21, 22
23, 24
25, 26
27, 28
29, 30
31, 32
33, 34
35, 36
37, 38
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
37D Metal Gearmotors
Dimensions (units: mm over [inches])
Gearmotor versions without encoders (items #2829, 4681–4689, 4741–4748)
e
ea e o a e
o
can a a e ea
in
in e cee in
e ea o
i
Gearmotor versions with encoders (items #2828, 4691–4699, 4751–4758)
ea e o a e
o
a a e ea in e ea o
ea
a
a e a o i a el
e ale ea e
January 2020 – Rev 1.2
i
in e cee in
a
i
e
in lon an a e e
in i c
weight: 175 g to 195 g
weight: 190 g to 210 g
can
ina e
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
2
37D Metal Gearmotors
Motor with encoder and no gearbox (items #4690, 4750)
ea e o a e
o
can a a e e o o
ea
a
a e a o i a el
e ale ea e
in e cee in
i
a
i
in lon an a e e
in i c
weight: 110 g
e
ina e
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.
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
3
37D Metal Gearmotors
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.
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
4
Pololu Items #4747, #4757 (6.3:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
18
1800
7
16
1600
no-load speed: 1600 rpm
80
14
1400
max power: 12 W
at 15 kg⋅mm,
32% efficiency,
760 rpm, 3.1 A
f(τ) = 1500 − 51τ
70
12
5
max efficiency: 47%
at 4.9 kg⋅mm, 6.4 W,
1300 rpm, 1.2 A
1000
speed (rpm)
power (W)
efficiency (%)
10
8
f(τ) = 0.22 + 0.19τ
1200
60
50
6
Istall ≈ 5.9 A
4
800
3
40
6
current (A)
90
600
30
2
4
400
20
τstall ≈
30 kg⋅mm
1
10
2
200
0
0
no-load current: 0.18 A
0
0
0
5
10
15
20
25
30
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
5
Pololu Items #4747, #4757 (6.3:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
5.0
900
4.0
90
4.5
800
no-load speed: 800 rpm
3.5
4.0
700
70
f(τ) = 750 − 45τ
3.5
600
60
2.5
2.5
speed (rpm)
power (W)
efficiency (%)
40
3.0
f(τ) = 0.21 + 0.18τ
3.0
max efficiency: 43%
at 3.4 kg⋅mm, 2.1 W,
600 rpm, 0.82 A
500
50
Istall ≈ 3.2 A
max power: 3.2 W
at 8.4 kg⋅mm,
32% efficiency,
380 rpm, 1.7 A
2.0
400
current (A)
80
2.0
1.5
300
30
1.5
1.0
200
20
1.0
10
0.5
0
0.0
τstall ≈
17 kg⋅mm
0.5
100
no-load current: 0.13 A
0
0.0
0
2
4
6
8
10
12
14
16
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
6
Pololu Items #4748, #4758 (10:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
20
1200
7
90
18
no-load speed: 1000 rpm
1000
80
16
70
14
max power: 12 W
at 24 kg⋅mm,
34% efficiency,
490 rpm, 3.0 A
f(τ) = 980 − 20τ
800
60
6
Istall ≈ 5.8 A
max efficiency: 52%
at 6.6 kg⋅mm, 5.7 W,
850 rpm, 0.91 A
12
f(τ) = 0.14 + 0.12τ
5
40
600
3
8
current (A)
10
speed (rpm)
50
power (W)
efficiency (%)
4
400
30
6
2
20
4
τstall ≈
49 kg⋅mm
200
1
10
2
0
0
no-load current: 0.15 A
0
0
0
5
10
15
20
25
30
35
40
45
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
7
Pololu Items #4748, #4758 (10:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
5.0
550
3.5
90
500
4.5
no-load speed: 490 rpm
Istall ≈ 3.1 A
450
80
3.0
4.0
max power: 3.3 W
at 13 kg⋅mm,
34% efficiency,
240 rpm, 1.6 A
f(τ) = 480 − 18τ
400
70
3.5
f(τ) = 0.14 + 0.11τ
2.5
350
60
max efficiency: 49%
at 4.6 kg⋅mm, 1.9 W,
400 rpm, 0.65 A
3.0
40
2.0
current (A)
2.5
speed (rpm)
50
power (W)
efficiency (%)
300
250
1.5
2.0
200
30
1.5
150
20
1.0
1.0
τstall ≈
27 kg⋅mm
100
0.5
10
0.5
50
0
0.0
0
no-load current: 0.11 A
0.0
0
5
10
15
20
25
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
8
Pololu Items #4741, #4751 (19:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
18
600
6
550
90
no-load speed: 540 rpm
16
Istall ≈ 5.4 A
500
80
5
f(τ) = 530 − 6.3τ
14
f(τ) = 0.11 + 0.062τ
max power: 12 W
at 42 kg⋅mm,
35% efficiency,
270 rpm, 2.8 A
450
70
12
max efficiency: 55%
at 10 kg⋅mm, 5.0 W,
470 rpm, 0.76 A
400
60
4
350
40
6
300
3
250
200
current (A)
8
speed (rpm)
50
power (W)
efficiency (%)
10
2
30
150
4
20
τstall ≈
85 kg⋅mm
100
10
1
2
50
no-load current: 0.12 A
0
0
0
0
0
10
20
30
40
50
60
70
80
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
9
Pololu Items #4741, #4751 (19:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
5.5
300
3.5
275
5.0
90
no-load speed: 270 rpm
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
at 25 kg⋅mm,
35% efficiency,
130 rpm, 1.6 A
4.0
70
200
max efficiency: 53%
at 7.2 kg⋅mm, 1.7 W,
230 rpm, 0.53 A
3.5
60
2.5
175
2.5
40
speed (rpm)
power (W)
efficiency (%)
50
150
125
1.5
current (A)
2.0
3.0
2.0
100
30
1.0
1.5
75
20
1.0
τstall ≈
50 kg⋅mm
50
0.5
10
0.5
25
0
0.0
0
no-load current: 0.091 A
0.0
0
10
20
30
40
50
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
10
Pololu Items #4742, #4752 (30:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
18
350
6
no-load speed: 330 rpm
90
Istall ≈ 5.6 A
16
300
f(τ) = 320 − 2.2τ
80
f(τ) = 0.11 + 0.038τ
14
max efficiency: 54%
at 18 kg⋅mm, 5.1 W,
280 rpm, 0.78 A
12
60
3
150
current (A)
speed (rpm)
power (W)
efficiency (%)
8
4
200
10
50
max power: 12 W
at 72 kg⋅mm,
35% efficiency,
160 rpm, 2.8 A
250
70
5
40
6
30
2
100
4
20
τstall ≈
140 kg⋅mm
1
50
10
2
no-load current: 0.15 A
0
0
0
0
0
20
40
60
80
100
120
140
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
11
Pololu Items #4742, #4752 (30:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
5.0
90
4.5
80
4.0
180
no-load speed: 170 rpm
Istall ≈ 3.0 A
160
f(τ) = 170 − 2.1τ
f(τ) = 0.093 + 0.037τ
max power: 3.4 W
at 39 kg⋅mm,
36% efficiency,
83 rpm, 1.5 A
140
70
3.5
60
2.5
max efficiency: 54%
at 12 kg⋅mm, 1.7 W,
140 rpm, 0.53 A
120
3.0
3.0
2.0
40
1.5
80
current (A)
2.5
speed (rpm)
50
power (W)
efficiency (%)
100
2.0
60
30
1.5
20
1.0
1.0
40
10
0.5
0
0.0
τstall ≈
79 kg⋅mm
0.5
20
no-load current: 0.091 A
0
0.0
0
10
20
30
40
50
60
70
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
12
Pololu Items #4743, #4753 (50:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
16
225
6
90
no-load speed: 200 rpm
200
14
Istall ≈ 5.4 A
80
f(τ) = 200 − 1.0τ
175
12
70
150
5
theoretical max power: 10 W
at 100 kg⋅mm,
32% efficiency,
98 rpm, 2.7 A
f(τ) = 0.080 + 0.026τ
max efficiency: 51%
at 22 kg⋅mm, 4.0 W,
180 rpm, 0.66 A
10
60
4
3
100
current (A)
8
speed (rpm)
50
power (W)
efficiency (%)
125
40
6
75
2
30
4
50
20
τstall ≈
210 kg⋅mm
2
10
1
25
no-load current: 0.12 A
0
0
0
0
0
50
100
150
200
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
13
Pololu Items #4743, #4753 (50:1 Metal Gearmotor 37D 12V) Performance at 6 V
5.0
90
4.5
120
3.5
100
80
no-load speed: 100 rpm
Istall ≈ 3.2 A
4.0
max power: 3.2 W
at 63 kg⋅mm,
33% efficiency,
50 rpm, 1.6 A
f(τ) = 100 − 0.79τ
70
3.5
3.0
50
2.5
40
max efficiency: 52%
at 15 kg⋅mm, 1.4 W,
88 rpm, 0.44 A
speed (rpm)
60
power (W)
efficiency (%)
80
3.0
f(τ) = 0.059 + 0.025τ
2.5
2.0
60
current (A)
100
2.0
1.5
40
30
1.5
1.0
20
1.0
τstall ≈
130 kg⋅mm
20
0.5
10
0.5
0
0.0
no-load current: 0.088 A
0
0.0
0
20
40
60
80
100
120
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
14
Pololu Items #4744, #4754 (70:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
16
160
5.5
no-load speed: 150 rpm
90
14
Istall ≈ 5.2 A
140
5.0
f(τ) = 150 − 0.53τ
80
f(τ) = 0.088 + 0.018τ
4.5
12
theoretical max power: 10 W
at 140 kg⋅mm,
33% efficiency,
73 rpm, 2.6 A
120
70
10
max efficiency: 52%
at 32 kg⋅mm, 4.2 W,
130 rpm, 0.68 A
100
60
3.5
80
2.5
current (A)
8
speed (rpm)
3.0
50
power (W)
efficiency (%)
4.0
40
6
60
2.0
30
4
1.5
40
20
τstall ≈
270 kg⋅mm
2
1.0
20
10
0.5
no-load current: 0.11 A
0
0
0
0.0
0
50
100
150
200
250
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
15
Pololu Items #4744, #4754 (70:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
5.0
90
4.5
80
3.5
no-load speed: 73 rpm
Istall ≈ 3.1 A
70
3.0
80
f(τ) = 73 − 0.45τ
4.0
f(τ) = 0.066 + 0.019τ
60
3.5
60
3.0
40
2.5
speed (rpm)
50
power (W)
efficiency (%)
50
max power: 3.0 W
at 81 kg⋅mm,
31% efficiency,
36 rpm, 1.6 A
max efficiency: 49%
at 20 kg⋅mm, 1.3 W,
63 rpm, 0.45 A
2.5
2.0
40
1.5
current (A)
70
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
no-load current: 0.082 A
0
0.0
0
20
40
60
80
100
120
140
160
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
16
Pololu Items #4745, #4755 (100:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
14
120
6
90
12
100
no-load speed: 100 rpm
Istall ≈ 5.1 A
80
f(τ) = 100 − 0.29τ
10
70
80
theoretical max power: 8.7 W
at 170 kg⋅mm,
28% efficiency,
50 rpm, 2.6 A
5
f(τ) = 0.10 + 0.015τ
4
6
speed (rpm)
50
power (W)
efficiency (%)
8
max efficiency: 44%
at 42 kg⋅mm, 3.8 W,
87 rpm, 0.72 A
60
3
current (A)
60
40
40
30
2
4
20
τstall ≈
340 kg⋅mm
20
2
1
10
no-load current: 0.12 A
0
0
0
0
0
50
100
150
200
250
300
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
17
Pololu Items #4745, #4755 (100:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
4.0
55
3.5
50
90
no-load speed: 49 rpm
3.5
Istall ≈ 3.2 A
3.0
45
80
f(τ) = 50 − 0.24τ
3.0
40
70
theoretical max power: 2.6 W
at 100 kg⋅mm,
27% efficiency,
25 rpm, 1.6 A
f(τ) = 0.082 + 0.015τ
2.5
35
2.5
60
2.0
max efficiency: 41%
at 29 kg⋅mm, 1.3 W,
43 rpm, 0.51 A
25
1.5
40
1.5
current (A)
2.0
speed (rpm)
50
power (W)
efficiency (%)
30
20
30
1.0
15
1.0
20
τstall ≈
210 kg⋅mm
10
0.5
0.5
10
5
no-load current: 0.087 A
0
0.0
0
0.0
0
50
100
150
200
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
18
Pololu Items #4746, #4756 (131:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
14
80
5.0
no-load speed: 76 rpm
Istall ≈ 4.8 A
90
70
4.5
12
f(τ) = 76 − 0.17τ
f(τ) = 0.12 + 0.011τ
80
4.0
60
theoretical max power: 8.7 W
at 220 kg⋅mm,
30% efficiency,
38 rpm, 2.5 A
10
70
3.5
50
max efficiency: 45%
at 60 kg⋅mm, 4.1 W,
66 rpm, 0.74 A
6
speed (rpm)
50
power (W)
efficiency (%)
8
3.0
40
2.5
40
2.0
30
30
current (A)
60
1.5
4
20
20
τstall ≈
450 kg⋅mm
1.0
2
10
10
0.5
no-load current: 0.13 A
0
0
0
0.0
0
50
100
150
200
250
300
350
400
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
19
Pololu Items #4746, #4756 (131:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
4.0
40
no-load speed: 38 rpm
Istall ≈ 3.1 A
90
3.0
3.5
35
f(τ) = 38 − 0.14τ
f(τ) = 0.085 + 0.011τ
80
3.0
30
2.5
25
theoretical max power: 2.7 W
at 140 kg⋅mm,
29% efficiency,
19 rpm, 1.6 A
70
2.5
max efficiency: 43%
at 40 kg⋅mm, 1.3 W,
33 rpm, 0.51 A
20
1.5
current (A)
2.0
speed (rpm)
50
2.0
power (W)
efficiency (%)
60
40
1.5
15
30
1.0
1.0
10
20
τstall ≈
280 kg⋅mm
0.5
5
0.0
0
0.5
10
no-load current: 0.095 A
0
0.0
0
50
100
150
200
250
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
20
Pololu Items #2828, #2829 (150:1 Metal Gearmotor 37D 12V) Performance at 12 V
100
14
70
5.0
no-load speed: 67 rpm
Istall ≈ 4.8 A
90
12
4.5
60
f(τ) = 67 − 0.13τ
f(τ) = 0.11 + 0.0095τ
80
4.0
10
70
theoretical max power: 8.4 W
at 250 kg⋅mm,
29% efficiency,
33 rpm, 2.4 A
50
3.5
60
2.5
30
40
30
current (A)
6
3.0
max efficiency: 44%
at 65 kg⋅mm, 3.8 W,
58 rpm, 0.72 A
40
speed (rpm)
50
power (W)
efficiency (%)
8
2.0
4
1.5
20
20
τstall ≈
490 kg⋅mm
2
1.0
10
10
0.5
no-load current: 0.12 A
0
0
0
0.0
0
50
100
150
200
250
300
350
400
450
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
21
Pololu Items #2828, #2829 (150:1 Metal Gearmotor 37D 12V) Performance at 6 V
100
4.0
35
no-load speed: 33 rpm
Istall ≈ 3.0 A
90
3.0
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
at 150 kg⋅mm,
27% efficiency,
17 rpm, 1.5 A
25
70
2.5
2.0
60
max efficiency: 41%
at 43 kg⋅mm, 1.3 W,
28 rpm, 0.51 A
1.5
15
current (A)
2.0
speed (rpm)
50
power (W)
efficiency (%)
20
40
1.5
1.0
30
10
1.0
20
τstall ≈
300 kg⋅mm
5
0.5
0.5
10
no-load current: 0.10 A
0
0.0
0
0.0
0
50
100
150
200
250
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
22
Pololu Items #4688, #4698 (6.3:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
22.5
1800
3.5
90
20
no-load speed: 1600 rpm
1600
Istall ≈ 3.1 A
80
3.0
17.5
1400
f(τ) = 1500 − 44τ
70
15
1200
12.5
1000
max efficiency: 53%
at 5.5 kg⋅mm, 7.4 W,
1300 rpm, 0.58 A
60
f(τ) = 0.11 + 0.086τ
max power: 14 W
at 17 kg⋅mm,
36% efficiency,
770 rpm, 1.6 A
2.5
current (A)
10
speed (rpm)
power (W)
efficiency (%)
2.0
50
800
40
1.5
7.5
600
30
1.0
5
400
20
τstall ≈
35 kg⋅mm
0.5
10
2.5
200
0
0
no-load current: 0.075 A
0
0.0
0
5
10
15
20
25
30
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
23
Pololu Items #4688, #4698 (6.3:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
6.0
900
2.00
5.5
90
no-load speed: 820 rpm
800
5.0
Istall ≈ 1.7 A
80
1.75
700
4.5
max power: 3.8 W
at 10 kg⋅mm,
35% efficiency,
390 rpm, 0.91 A
f(τ) = 770 − 40τ
70
60
600
max efficiency: 48%
at 3.7 kg⋅mm, 2.4 W,
620 rpm, 0.41 A
3.5
40
3.0
2.5
speed (rpm)
power (W)
efficiency (%)
500
50
1.50
1.25
1.00
400
current (A)
4.0
f(τ) = 0.10 + 0.084τ
0.75
2.0
300
30
1.5
0.50
200
20
τstall ≈
19 kg⋅mm
1.0
10
0.25
100
0.5
no-load current: 0.064 A
0
0.0
0
0.00
0
2
4
6
8
10
12
14
16
18
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
24
Pololu Items #4689, #4699 (10:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
22.5
90
1200
3.5
20
no-load speed: 1000 rpm
1000
Istall ≈ 3.1 A
80
17.5
3.0
max power: 14 W
at 28 kg⋅mm,
36% efficiency,
490 rpm, 1.6 A
f(τ) = 990 − 18τ
70
15
800
max efficiency: 56%
at 7.5 kg⋅mm, 6.6 W,
850 rpm, 0.49 A
60
f(τ) = 0.077 + 0.055τ
2.5
2.0
600
current (A)
10
speed (rpm)
50
power (W)
efficiency (%)
12.5
40
1.5
7.5
400
30
1.0
5
20
τstall ≈
55 kg⋅mm
200
10
0.5
2.5
no-load current: 0.070 A
0
0
0
0.0
0
10
20
30
40
50
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
25
Pololu Items #4689, #4699 (10:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
6.0
550
5.5
500
no-load speed: 520 rpm
90
1.8
Istall ≈ 1.7 A
5.0
450
1.6
80
f(τ) = 490 − 16τ
4.5
400
70
4.0
f(τ) = 0.086 + 0.053τ
max power: 3.9 W
at 15 kg⋅mm,
36% efficiency,
250 rpm, 0.89 A
1.4
350
40
3.0
2.5
speed (rpm)
power (W)
efficiency (%)
300
50
1.2
max efficiency: 51%
at 5.6 kg⋅mm, 2.3 W,
400 rpm, 0.38 A
3.5
1.0
250
current (A)
60
0.8
200
2.0
0.6
30
150
1.5
20
1.0
10
0.5
50
0.0
0
0.4
τstall ≈
31 kg⋅mm
100
0.2
no-load current: 0.058 A
0
0.0
0
5
10
15
20
25
30
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
26
Pololu Items #4681, #4691 (19:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
20
600
3.5
550
90
no-load speed: 550 rpm
17.5
Istall ≈ 3.1 A
500
3.0
80
f(τ) = 530 − 5.5τ
15
70
400
2.5
max efficiency: 52%
at 13 kg⋅mm, 6.1 W,
450 rpm, 0.49 A
12.5
60
f(τ) = 0.077 + 0.031τ
max power: 13 W
at 48 kg⋅mm,
34% efficiency,
260 rpm, 1.6 A
450
350
40
300
1.5
250
current (A)
10
speed (rpm)
50
power (W)
efficiency (%)
2.0
7.5
200
30
1.0
5
150
20
τstall ≈
95 kg⋅mm
100
0.5
2.5
10
50
no-load current: 0.068 A
0
0
0
0.0
0
10
20
30
40
50
60
70
80
90
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
27
Pololu Items #4681, #4691 (19:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.5
300
90
5.0
275
no-load speed: 270 rpm
1.8
Istall ≈ 1.7 A
250
4.5
1.6
80
f(τ) = 270 − 5.1τ
max power: 3.6 W
at 26 kg⋅mm,
34% efficiency,
130 rpm, 0.88 A
225
4.0
70
200
3.5
60
f(τ) = 0.060 + 0.032τ
1.4
max efficiency: 49%
at 8.2 kg⋅mm, 1.9 W,
220 rpm, 0.32 A
175
1.2
40
1.0
150
125
current (A)
2.5
speed (rpm)
50
power (W)
efficiency (%)
3.0
0.8
2.0
100
0.6
30
1.5
75
20
1.0
50
10
0.5
25
0
0.0
0
0.4
τstall ≈
52 kg⋅mm
0.2
no-load current: 0.054 A
0.0
0
10
20
30
40
50
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
28
Pololu Items #4682, #4692 (30:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
20
350
3.5
no-load speed: 330 rpm
Istall ≈ 3.2 A
18
300
80
3.0
f(τ) = 320 − 2.1τ
16
70
14
60
12
max power: 13 W
at 76 kg⋅mm,
32% efficiency,
160 rpm, 1.6 A
250
40
8
30
6
20
speed (rpm)
power (W)
efficiency (%)
10
2.5
max efficiency: 50%
at 19 kg⋅mm, 5.5 W,
280 rpm, 0.46 A
200
50
f(τ) = 0.066 + 0.021τ
2.0
150
1.5
100
1.0
4
τstall ≈
150 kg⋅mm
50
10
2
0
0
current (A)
90
0.5
no-load current: 0.070 A
0
0.0
0
20
40
60
80
100
120
140
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
29
Pololu Items #4682, #4692 (30:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.5
180
1.8
no-load speed: 170 rpm
5.0
90
Istall ≈ 1.6 A
160
1.6
4.5
f(τ) = 170 − 2.0τ
80
f(τ) = 0.067 + 0.019τ
140
1.4
max power: 3.5 W
at 41 kg⋅mm,
34% efficiency,
83 rpm, 0.86 A
4.0
70
120
1.2
3.5
max efficiency: 49%
at 14 kg⋅mm, 1.9 W,
140 rpm, 0.33 A
60
100
1.0
80
0.8
current (A)
2.5
speed (rpm)
50
power (W)
efficiency (%)
3.0
40
2.0
60
0.6
30
1.5
40
20
0.4
τstall ≈
81 kg⋅mm
1.0
20
10
0.5
0
0.0
0.2
no-load current: 0.053 A
0
0.0
0
10
20
30
40
50
60
70
80
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
30
Pololu Items #4683, #4693 (50:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
18
225
3.5
90
16
no-load speed: 200 rpm
200
Istall ≈ 3.1 A
3.0
80
14
f(τ) = 200 − 0.85τ
175
70
150
max efficiency: 50%
at 27 kg⋅mm, 4.9 W,
170 rpm, 0.41 A
60
8
125
speed (rpm)
power (W)
efficiency (%)
10
50
2.5
2.0
100
1.5
current (A)
12
f(τ) = 0.055 + 0.013τ
theoretical max power: 12 W
at 120 kg⋅mm,
31% efficiency,
99 rpm, 1.6 A
40
6
75
30
1.0
4
50
20
τstall ≈
230 kg⋅mm
0.5
10
2
25
0
0
no-load current: 0.069 A
0
0.0
0
50
100
150
200
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
31
Pololu Items #4683, #4693 (50:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.0
120
2.00
90
4.5
80
Istall ≈ 1.7 A
4.0
f(τ) = 100 − 0.77τ
70
1.75
no-load speed: 100 rpm
100
3.5
max power: 3.4 W
at 65 kg⋅mm,
33% efficiency,
50 rpm, 0.86 A
1.50
f(τ) = 0.052 + 0.012τ
50
2.5
40
max efficiency: 49%
at 20 kg⋅mm, 1.7 W,
86 rpm, 0.29 A
1.25
60
1.00
current (A)
3.0
speed (rpm)
60
power (W)
efficiency (%)
80
2.0
0.75
40
30
1.5
0.50
20
1.0
τstall ≈
130 kg⋅mm
20
0.25
10
0.5
0
0.0
no-load current: 0.056 A
0
0.00
0
20
40
60
80
100
120
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
32
Pololu Items #4684, #4694 (70:1 Metal Gearmotor 37D 24V) Performance at 24 V
18
90
160
no-load speed: 140 rpm
16
Istall ≈ 2.9 A
140
80
f(τ) = 140 − 0.46τ
14
120
12
speed (rpm)
power (W)
efficiency (%)
10
8
2.5
max efficiency: 50%
at 39 kg⋅mm, 5.0 W,
120 rpm, 0.42 A
100
60
50
f(τ) = 0.059 + 0.0092τ
theoretical max power: 11 W
at 160 kg⋅mm,
32% efficiency,
71 rpm, 1.5 A
70
3.0
2.0
80
1.5
current (A)
100
40
60
6
30
1.0
40
4
20
τstall ≈
310 kg⋅mm
0.5
10
2
20
no-load current: 0.071 A
0
0
0
0.0
0
50
100
150
200
250
300
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
33
Pololu Items #4684, #4694 (70:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.0
90
4.5
80
1.8
no-load speed: 72 rpm
70
Istall ≈ 1.7 A
1.6
4.0
max power: 3.4 W
at 92 kg⋅mm,
32% efficiency,
36 rpm, 0.87 A
f(τ) = 71 − 0.39τ
60
70
3.5
60
3.0
50
2.5
40
speed (rpm)
power (W)
efficiency (%)
50
f(τ) = 0.049 + 0.0089τ
1.4
max efficiency: 49%
at 27 kg⋅mm, 1.7 W,
61 rpm, 0.29 A
1.2
1.0
40
0.8
2.0
current (A)
80
30
30
0.6
1.5
20
20
1.0
10
0.5
0
0.0
0.4
τstall ≈
180 kg⋅mm
10
0.2
no-load current: 0.055 A
0
0.0
0
20
40
60
80
100
120
140
160
180
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
34
Pololu Items #4685, #4695 (100:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
16
110
3.0
100
90
no-load speed: 98 rpm
14
Istall ≈ 2.8 A
90
80
f(τ) = 99 − 0.26τ
f(τ) = 0.064 + 0.0071τ
2.5
12
theoretical max power: 10 W
at 190 kg⋅mm,
29% efficiency,
49 rpm, 1.4 A
80
70
70
10
2.0
60
8
speed (rpm)
power (W)
efficiency (%)
50
1.5
50
current (A)
max efficiency: 44%
at 51 kg⋅mm, 4.5 W,
86 rpm, 0.42 A
60
40
6
40
1.0
30
30
4
20
τstall ≈
390 kg⋅mm
20
0.5
2
10
10
no-load current: 0.073 A
0
0
0
0.0
0
50
100
150
200
250
300
350
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
35
Pololu Items #4685, #4695 (100:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.0
55
90
4.5
50
1.8
no-load speed: 49 rpm
Istall ≈ 1.7 A
45
4.0
3.5
35
60
1.2
2.5
speed (rpm)
power (W)
efficiency (%)
40
1.4
3.0
max efficiency: 44%
at 35 kg⋅mm, 1.5 W,
42 rpm, 0.29 A
30
50
f(τ) = 0.048 + 0.0068τ
theoretical max power: 3.1 W
at 120 kg⋅mm,
29% efficiency,
25 rpm, 0.89 A
40
70
1.6
f(τ) = 49 − 0.20τ
1.0
25
current (A)
80
0.8
2.0
20
30
0.6
1.5
15
20
1.0
τstall ≈
240 kg⋅mm
10
10
0.5
5
0
0.0
0
0.4
0.2
no-load current: 0.058 A
0.0
0
50
100
150
200
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
36
Pololu Items #4686, #4696 (131:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
14
90
90
3.0
80
no-load speed: 79 rpm
Istall ≈ 2.6 A
12
2.5
80
theoretical max power: 9.5 W
at 240 kg⋅mm,
30% efficiency,
39 rpm, 1.3 A
f(τ) = 79 − 0.17τ
70
10
60
2.0
60
6
max efficiency: 46%
at 63 kg⋅mm, 4.4 W,
68 rpm, 0.40 A
50
speed (rpm)
50
power (W)
efficiency (%)
8
1.5
40
current (A)
70
f(τ) = 0.062 + 0.0054τ
40
30
30
1.0
4
20
20
τstall ≈
470 kg⋅mm
0.5
2
10
10
no-load current: 0.071 A
0
0
0
0.0
0
50
100
150
200
250
300
350
400
450
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
37
Pololu Items #4686, #4696 (131:1 Metal Gearmotor 37D 24V) Performance at 12 V
5.0
90
4.5
45
1.8
40
no-load speed: 39 rpm
80
Istall ≈ 1.7 A
1.6
4.0
35
70
f(τ) = 40 − 0.13τ
f(τ) = 0.050 + 0.0055τ
theoretical max power: 3.0 W
at 150 kg⋅mm,
29% efficiency,
20 rpm, 0.87 A
3.5
30
60
1.2
3.0
max efficiency: 43%
at 44 kg⋅mm, 1.5 W,
34 rpm, 0.29 A
40
2.5
speed (rpm)
power (W)
efficiency (%)
25
50
1.4
1.0
20
current (A)
100
0.8
2.0
15
30
1.5
20
1.0
10
0.5
0
0.0
0.6
10
τstall ≈
300 kg⋅mm
5
0.4
0.2
no-load current: 0.054 A
0
0.0
0
50
100
150
200
250
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
38
Pololu Items #4687, #4697 (150:1 Metal Gearmotor 37D 24V) Performance at 24 V
100
16
70
2.75
no-load speed: 68 rpm
Istall ≈ 2.7 A
90
2.50
14
f(τ) = 68 − 0.12τ
60
f(τ) = 0.061 + 0.0047τ
80
2.25
12
theoretical max power: 10 W
at 280 kg⋅mm,
29% efficiency,
34 rpm, 1.4 A
50
70
10
1.75
max efficiency: 45%
at 73 kg⋅mm, 4.4 W,
59 rpm, 0.41 A
8
speed (rpm)
power (W)
efficiency (%)
40
1.50
1.25
30
current (A)
60
50
2.00
40
6
1.00
30
20
0.75
4
20
τstall ≈
560 kg⋅mm
0.50
10
2
10
0.25
no-load current: 0.071 A
0
0
0
0.00
0
100
200
300
400
500
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
39
Pololu Items #4687, #4697 (150:1 Metal Gearmotor 37D 24V) Performance at 12 V
100
5.0
35
1.8
no-load speed: 33 rpm
Istall ≈ 1.7 A
90
4.5
1.6
30
80
f(τ) = 34 − 0.094τ
f(τ) = 0.051 + 0.0047τ
4.0
1.4
70
25
3.5
3.0
2.5
40
2.0
30
1.5
20
1.0
speed (rpm)
power (W)
efficiency (%)
20
50
1.2
max efficiency: 43%
at 53 kg⋅mm, 1.5 W,
29 rpm, 0.30 A
1.0
0.8
15
current (A)
60
theoretical max power: 3.1 W
at 180 kg⋅mm,
29% efficiency,
17 rpm, 0.88 A
0.6
10
0.4
τstall ≈
360 kg⋅mm
5
10
0.5
0
0.0
0.2
no-load current: 0.054 A
0
0.0
0
50
100
150
200
250
300
350
torque (kg⋅mm)
January 2020 – Rev 1.2
© Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
40