131:1 Metal Gearmotor 37Dx57L mm with 64 CPR Encoder

SKU: POLOLU-1447 Brand: Pololu

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Overview

This powerful brushed DC gearmotor is available in six different gear ratios and features an integrated quadrature encoder with 64 counts per revolution (CPR) of the motor shaft. The motor and encoder portion is available by itself (no gearbox), and versions without the encoder are also available.

Gear Ratio No-Load
Speed
@ 12 V
Stall Torque
@ 12 V
Stall Current
@ 12 V


With Encoder


Without Encoder
1:1 11,000 RPM 5 oz-in 5 A motor without gearbox
19:1 500 RPM 84 oz-in 5 A 37Dx52L mm 37Dx52L mm
30:1 350 RPM 110 oz-in 5 A 37Dx52L mm 37Dx52L mm
50:1 200 RPM 170 oz-in 5 A 37Dx54L mm 37Dx54L mm
70:1 150 RPM 200 oz-in 5 A 37Dx54L mm 37Dx54L mm
100:1 100 RPM 220 oz-in 5 A 37Dx57L mm 37Dx57L mm
131:1 80 RPM 250 oz-in 5 A 37Dx57L mm 37Dx57L mm

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

Details for item #1447

Exact gear ratio: ``(25×30×30×28×30) / (10×10×10×12×12) = bb(131.25:1)``

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 Pololu's 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 Pololu's 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 Pololu's 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 30:1 37Dx52L mm versions, 24 mm for the 50:1 37Dx54L mm and 70:1 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. Pololu 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 Pololu's 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

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.

Selecting the Right Gearmotor

Pololu offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Pololu's metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

Some of the Pololu metal gearmotors.

This product is listed in:

Retired

Product Comments

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We deliver Australia-wide with these options (depends on the final destination - you can get a quote on the view cart page):

  • $3+ for Stamped Mail (typically 10+ business days, not tracked, only available on selected small items)
  • $6+ for Standard Post (typically 6+ business days, tracked)
  • $10+ for Express Post (typically 2+ business days, tracked)
  • Pickup - Free! Only available to customers who live in the Newcastle region (must order online and only pickup after we email to notify you the order is ready). Orders placed after 2PM may not be ready until the following business day.

Non-metro addresses in WA, NT, SA & TAS can take 2+ days in addition to the above information.

Some batteries (such as LiPo) can't be shipped by Air. During checkout, Express Post and International Methods will not be an option if you have that type of battery in your shopping cart.

International Orders - the following rates are for New Zealand and will vary for other countries:

  • $11+ for Pack and Track (3+ days, tracked)
  • $16+ for Express International (2-5 days, tracked)

If you order lots of gear, the postage amount will increase based on the weight of your order.

Our physical address (here's a PDF which includes other key business details):

Unit 18, 132 Garden Grove Parade
Adamstown
NSW, 2289
Australia

Take a look at our customer service page if you have other questions such as "do we do purchase orders" (yes!) or "are prices GST inclusive" (yes they are!). We're here to help - get in touch with us to talk shop.

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