50:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder

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€39.95

Quick Overview

This 2.62" × 1.45" × 1.45" gearmotor is a powerful 12V brushed DC motor with a 50:1 metal gearbox and an integrated quadrature encoder that provides a resolution of 64 counts per revolution of the motor shaft, which corresponds to 3200 counts per revolution of the gearbox’s output shaft. These units have a 0.61"-long, 6 mm-diameter D-shaped output shaft.

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  • 50:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder
  • 50:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder
  • 50:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder

Details

This 2.62" × 1.45" × 1.45" gearmotor is a powerful 12V brushed DC motor with a 50:1 metal gearbox and an integrated quadrature encoder that provides a resolution of 64 counts per revolution of the motor shaft, which corresponds to 3200 counts per revolution of the gearbox’s output shaft. These units have a 0.61"-long, 6 mm-diameter D-shaped output shaft.

Key specs at 12 V: 200 RPM and 300 mA free-run, 170 oz-in (12 kg-cm) and 5 A stall.

These motors are intended for use at 12 V, though the motor can begin rotating at voltages as low as 1 V.

Gearmotor Dimensions

The face plate has six mounting holes evenly spaced around the outer edge threaded for M3 screws. These mounting holes form a regular hexagon and the centers of neighboring holes are 15.5 mm apart. You can use our custom 37D mm metal gearmotor bracket (shown in the left picture below) to mount the gearmotor to your project via these mounting holes and the screws that come with the bracket.

Gearmotor with bracket and hub.
37D mm metal gearmotor with 64 CPR encoder and Pololu 90×10mm wheel.

Please note that unlike our smaller metal gearmotors, these 37D mm gearmotors have output shafts with a diameter of 6 mm. The Pololu universal aluminum mounting hub for 6mm shafts can be used to mount our larger Pololu wheels (80mm- and 90mm-diameter) or custom wheels and mechanisms to the gearmotor’s output shaft (see the right picture above).

The diagram below shows the dimensions (in mm) of the 37D mm line of gearmotors. The value of X is 22 mm for the 19:1 37Dx52L mm and 29:1 37Dx52L mm versions, 24 mm for the 50:1 37Dx54L mm and 67:1 37Dx54L mm versions, and 26.5 mm for the 100:1 37Dx57L mm and 131:1 37Dx57L mm versions. Note that the encoder PCB and magnetic disc are not shown in this dimension diagram. The encoder assembly extends an additional 12.5 mm beyond the rear of the motor.

37D mm metal gearmotor dimensions (units in mm).

Warning: Do not screw too far into the mounting holes as the screws can hit the gears. We recommend screwing no further than 3mm (1/8") into the screw hole.

37D mm metal gearmotor with 64 CPR encoder.

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 64 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 64. 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:

ColorFunction
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

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 12 V and a Hall sensor Vcc of 5 V:

Encoder A and B outputs for 37D mm metal gearmotor with 64 CPR encoder (motor running at 12 V).

By counting both the rising and falling edges of both the A and B outputs, it is possible to get 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.

Dimensions

Size: 37D x 66L mm
Weight: 7.7 oz
Shaft diameter: 6 mm

General specifications

Gear ratio: 50:1
Free-run speed @ 6V: 100 rpm1
Free-run current @ 6V: 250 mA1
Stall current @ 6V: 2500 mA1
Stall torque @ 6V: 85 oz·in1
Free-run speed @ 12V: 200 rpm
Free-run current @ 12V: 300 mA
Stall current @ 12V: 5000 mA
Stall torque @ 12V: 170 oz·in
Lead length: 11 in

Notes:

1
This motor will run at 6 V but is intended for operation at 12 V.

Additional Information

SKU ES000274
Manufacturer Pololu

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