# 9.7:1 Metal Gearmotor 25Dx63L mm HP 24V with 48 CPR Encoder

**Type:** Product page · **SKU:** POLOLU-5722 · **Brand:** [Pololu](https://core-electronics.com.au/brands/pololu-australia)
**Page:** https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-hp-24v-with-48-cpr-encoder.html ([markdown](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-hp-24v-with-48-cpr-encoder.html.md))

Built for controlled 24 V motion, this high-power brushed DC gearmotor combines a 9.68:1 metal gearbox with an integrated 48 CPR quadrature encoder.

## Pricing

- **Price:** $102.54 (inc GST) — $93.22 AUD, exc GST

## Availability & dispatch

- Available with a lead time — expect dispatch between Aug 21 and Aug 24.

## Description

This gearmotor is built from a**high-power, 24 V** brushed DC motor combined with a **9.68:1** metal spur gearbox, and it has an integrated 48 count/revolution quadrature encoder on the motor shaft, which provides **464.64 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.

Key Specifications for this motor:

 | Voltage | No-Load Performance | Stall Extrapolation |
|---|---|---|
| 24 V | 1000 RPM, 100 mA | 4.1 kg⋅cm, 2.7 A |

### Other 25mm Brushed DC Motors

These cylindrical brushed DC 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 design requirements change, though the length of the gearbox tends to increase with the gear ratio. See the [25D metal gearmotor datasheet](https://www.pololu.com/file/0J1829/pololu-25d-metal-gearmotors-rev-2-0.pdf) (5MB pdf) for more information, including detailed performance graphs for each gearmotor version.

 | **High-Power (HP) 24V** |
|---|
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | ![](https://a.pololu-files.com/picture/0J2644.100nw.jpg?d126a93259b960b5871ae3efea0c65de)  Without Encoder | ![](https://a.pololu-files.com/picture/0J9890.133nw.jpg?c6dfea6448bb8ef0cef701de2d59b4d6)  With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **24 V** | 2.7 A | 80 mA w/o encoder   100 mA with encoder | 10,000 | 0.4 | 5.5 | 12 | no gearbox | – | [item #5720](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5720) |
| 2300 | 2.0 | 28 | 12 | 4.4:1 | [item #5701](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5701) | [item #5721](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5721) |
| 1000 | 4.1 | 57 | 11 | 9.7:1 | [item #5702](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5702) | [item #5722](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-hp-24v-with-48-cpr-encoder.html) |
| 490 | 7.9 | 110 | 10 | 20.4:1 | [item #5703](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5703) | [item #5723](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-hp-24v-with-48-cpr-encoder.html) |
| 300 | 12 | 160 | 9.3 | 34:1 | [item #5704](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5704) | [item #5724](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5724) |
| 220 | 15 | 210 | 8.5 | 47:1 | [item #5705](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5705) | [item #5725](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5725) |
| 140 | 23 | 320 | – | 75:1 | [item #5706](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5706) | [item #5726](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-hp-24v-with-48-cpr-encoder.html) |
| 100 | 29 | 400 | – | 99:1 | [item #5707](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5707) | [item #5727](https://core-electronics.com.au/catalog/product/view/sku/POLOLU-5727) |
| **High-Power (HP) 12V** |
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | Without Encoder | With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **12 V** | 5.0 A | 250 mA w/o encoder   300 mA with encoder | 10,000 | 0.4 | 5.5 | 10 | no gearbox | – | [item #4840](https://core-electronics.com.au/hp-12v-motor-with-48-cpr-encoder-for-25d-mm-metal-gearmotors-no-gearbox.html) |
| 2200 | 1.7 | 24 | 9.4 | 4.4:1 | [item #3201](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx48l-mm-hp-12v.html) | [item #4841](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx63l-mm-hp-12v-with-48-cpr-encoder.html) |
| 1000 | 3.9 | 54 | 10 | 9.7:1 | [item #3202](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx48l-mm-hp-12v.html) | [item #4842](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-hp-12v-with-48-cpr-encoder.html) |
| 500 | 7.4 | 100 | 9.4 | 20.4:1 | item #3203 | [item #4843](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-hp-12v-with-48-cpr-encoder.html) |
| 300 | 11 | 150 | 8.9 | 34:1 | [item #3204](https://core-electronics.com.au/34-1-metal-gearmotor-25dx52l-mm-hp-12v.html) | [item #4844](https://core-electronics.com.au/34-1-metal-gearmotor-25dx67l-mm-hp-12v-with-48-cpr-encoder.html) |
| 220 | 15 | 210 | 8.4 | 47:1 | [item #3205](https://core-electronics.com.au/47-1-metal-gearmotor-25dx52l-mm-hp-12v.html) | [item #4845](https://core-electronics.com.au/47-1-metal-gearmotor-25dx67l-mm-hp-12v-with-48-cpr-encoder.html) |
| 130 | 22 | 310 | – | 75:1 | [item #3206](https://core-electronics.com.au/75-1-metal-gearmotor-25dx54l-mm-hp-12v.html) | [item #4846](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-hp-12v-with-48-cpr-encoder.html) |
| 100 | 29 | 400 | – | 99:1 | [item #3207](https://core-electronics.com.au/99-1-metal-gearmotor-25dx54l-mm-hp-12v.html) | [item #4847](https://core-electronics.com.au/99-1-metal-gearmotor-25dx69l-mm-hp-12v-with-48-cpr-encoder.html) |
| **Medium-Power (MP) 12V** |
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | Without Encoder | With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **12 V** | 1.8 A | 80 mA w/o encoder   100 mA with encoder | 8200 | 0.17 | 2.4 | 3.5 | no gearbox | – | [item #4860](https://core-electronics.com.au/mp-12v-motor-with-48-cpr-encoder-for-25d-mm-metal-gearmotors-no-gearbox.html) |
| 1800 | 0.71 | 10 | 3.2 | 4.4:1 | [item #3225](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx48l-mm-mp-12v.html) | [item #4861](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx63l-mm-mp-12v-with-48-cpr-encoder.html) |
| 800 | 1.7 | 24 | 3.4 | 9.7:1 | item #3226 | [item #4862](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-mp-12v-with-48-cpr-encoder.html) |
| 380 | 3.2 | 44 | 3.1 | 20.4:1 | [item #3227](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx50l-mm-mp-12v.html) | [item #4863](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-mp-12v-with-48-cpr-encoder.html) |
| 230 | 4.7 | 65 | 2.8 | 34:1 | [item #3228](https://core-electronics.com.au/34-1-metal-gearmotor-25dx52l-mm-mp-12v.html) | [item #4864](https://core-electronics.com.au/34-1-metal-gearmotor-25dx67l-mm-mp-12v-with-48-cpr-encoder.html) |
| 170 | 6.4 | 89 | 2.8 | 47:1 | [item #3229](https://core-electronics.com.au/47-1-metal-gearmotor-25dx52l-mm-mp-12v.html) | [item #4865](https://core-electronics.com.au/47-1-metal-gearmotor-25dx67l-mm-mp-12v-with-48-cpr-encoder.html) |
| 100 | 8.5 | 120 | 2.3 | 75:1 | [item #3230](https://core-electronics.com.au/75-1-metal-gearmotor-25dx54l-mm-mp-12v.html) | [item #4866](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-mp-12v-with-48-cpr-encoder.html) |
| 79 | 11 | 150 | 2.3 | 99:1 | [item #3231](https://core-electronics.com.au/99-1-metal-gearmotor-25dx54l-mm-mp-12v.html) | [item #4867](https://core-electronics.com.au/99-1-metal-gearmotor-25dx69l-mm-mp-12v-with-48-cpr-encoder.html) |
| 46 | 18 | 250 | 2.1 | 172:1 | [item #3232](https://core-electronics.com.au/172-1-metal-gearmotor-25dx56l-mm-mp-12v.html) | [item #4868](https://core-electronics.com.au/172-1-metal-gearmotor-25dx71l-mm-mp-12v-with-48-cpr-encoder.html) |
| 35 | 24 | 330 | – | 227:1 | [item #3233](https://core-electronics.com.au/227-1-metal-gearmotor-25dx56l-mm-mp-12v.html) | [item #4869](https://core-electronics.com.au/227-1-metal-gearmotor-25dx71l-mm-mp-12v-with-48-cpr-encoder.html) |
| **Low-Power (LP) 12V** |
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | ![](https://a.pololu-files.com/picture/0J2644.100nw.jpg?d126a93259b960b5871ae3efea0c65de)  Without Encoder | ![](https://a.pololu-files.com/picture/0J9890.133nw.jpg?c6dfea6448bb8ef0cef701de2d59b4d6)  With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **12 V** | 0.9 A | 50 mA w/o encoder   60 mA with encoder | 5600 | 0.14 | 1.9 | 1.8 | no gearbox | – | [item #4880](https://core-electronics.com.au/lp-12v-motor-with-48-cpr-encoder-for-25d-mm-metal-gearmotors-no-gearbox.html) |
| 1200 | 0.53 | 7.4 | 1.7 | 4.4:1 | [item #3249](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx48l-mm-lp-12v.html) | [item #4881](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx63l-mm-lp-12v-with-48-cpr-encoder.html) |
| 580 | 1.3 | 18 | 1.8 | 9.7:1 | [item #3250](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx48l-mm-lp-12v.html) | [item #4882](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-lp-12v-with-48-cpr-encoder.html) |
| 280 | 2.4 | 33 | 1.7 | 20.4:1 | [item #3251](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx50l-mm-lp-12v.html) | [item #4883](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-lp-12v-with-48-cpr-encoder.html) |
| 170 | 3.7 | 51 | 1.6 | 34:1 | [item #3252](https://core-electronics.com.au/34-1-metal-gearmotor-25dx52l-mm-lp-12v.html) | [item #4884](https://core-electronics.com.au/34-1-metal-gearmotor-25dx67l-mm-lp-12v-with-48-cpr-encoder.html) |
| 120 | 4.8 | 67 | 1.4 | 47:1 | [item #3253](https://core-electronics.com.au/47-1-metal-gearmotor-25dx52l-mm-lp-12v.html) | [item #4885](https://core-electronics.com.au/47-1-metal-gearmotor-25dx67l-mm-lp-12v-with-48-cpr-encoder.html) |
| 75 | 7.1 | 99 | 1.4 | 75:1 | [item #3254](https://core-electronics.com.au/75-1-metal-gearmotor-25dx54l-mm-lp-12v.html) | [item #4886](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-lp-12v-with-48-cpr-encoder.html) |
| 57 | 8.7 | 120 | 1.2 | 99:1 | [item #3255](https://core-electronics.com.au/99-1-metal-gearmotor-25dx54l-mm-lp-12v.html) | [item #4887](https://core-electronics.com.au/99-1-metal-gearmotor-25dx69l-mm-lp-12v-with-48-cpr-encoder.html) |
| 33 | 13 | 180 | 1.1 | 172:1 | [item #3256](https://core-electronics.com.au/172-1-metal-gearmotor-25dx56l-mm-lp-12v.html) | [item #4888](https://core-electronics.com.au/172-1-metal-gearmotor-25dx71l-mm-lp-12v-with-48-cpr-encoder.html) |
| 25 | 16 | 220 | 1.0 | 227:1 | [item #3257](https://core-electronics.com.au/227-1-metal-gearmotor-25dx56l-mm-lp-12v.html) | [item #4889](https://core-electronics.com.au/227-1-metal-gearmotor-25dx71l-mm-lp-12v-with-48-cpr-encoder.html) |
| 15 | 23 | 320 | 378:1 | – | [item #3258](https://core-electronics.com.au/378-1-metal-gearmotor-25dx58l-mm-lp-12v.html) | [item #4890](https://core-electronics.com.au/378-1-metal-gearmotor-25dx73l-mm-lp-12v-with-48-cpr-encoder.html) |
| **High-Power (HP) 6V** |
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | Without Encoder | With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **6 V** | 6.0 A | 420 mA w/o encoder   500 mA with encoder | 10,000 | 0.3 | 4 | 7 | no gearbox | – | [item #4800](https://core-electronics.com.au/hp-6v-motor-with-48-cpr-encoder-for-25d-mm-metal-gearmotors-no-gearbox.html) |
| 2200 | 1.2 | 17 | 6.7 | 4.4:1 | [item #1570](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx48l-mm-hp.html) | [item #4801](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx63l-mm-hp-6v-with-48-cpr-encoder.html) |
| 1000 | 2.3 | 32 | 5.9 | 9.7:1 | item #1571 | [item #4802](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-hp-6v-with-48-cpr-encoder.html) |
| 480 | 4.8 | 67 | 5.9 | 20.4:1 | item #1572 | [item #4803](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-hp-6v-with-48-cpr-encoder.html) |
| 290 | 6.8 | 94 | 5.1 | 34:1 | [item #1573](https://core-electronics.com.au/34-1-metal-gearmotor-25dx52l-mm-hp.html) | [item #4804](https://core-electronics.com.au/34-1-metal-gearmotor-25dx67l-mm-hp-6v-with-48-cpr-encoder.html) |
| 210 | 9.1 | 130 | 4.9 | 47:1 | item #1574 | [item #4805](https://core-electronics.com.au/47-1-metal-gearmotor-25dx67l-mm-hp-6v-with-48-cpr-encoder.html) |
| 130 | 14 | 190 | 4.5 | 75:1 | item #1575 | [item #4806](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-hp-6v-with-48-cpr-encoder.html) |
| 99 | 15 | 210 | 3.9 | 99:1 | item #1576 | [item #4807](https://core-electronics.com.au/99-1-metal-gearmotor-25dx69l-mm-hp-6v-with-48-cpr-encoder.html) |
| 57 | 27 | 380 | – | 172:1 | [item #1577](https://core-electronics.com.au/172-1-metal-gearmotor-25dx56l-mm-hp.html) | [item #4808](https://core-electronics.com.au/172-1-metal-gearmotor-25dx71l-mm-hp-6v-with-48-cpr-encoder.html) |
| **Low-Power (LP) 6V** |
| Rated Voltage | Stall Current | No-Load Current | No-Load Speed (RPM) | Extrapolated Stall Torque | Max Power (W) | Approx Gear Ratio | Without Encoder | With Encoder |
| (kg⋅cm) | (oz⋅in) |
| **6 V** | 2.0 A | 100 mA w/o encoder   120 mA with encoder | 6200 | 0.15 | 2.1 | 2.1 | no gearbox | – | [item #4820](https://core-electronics.com.au/lp-6v-motor-with-48-cpr-encoder-for-25d-mm-metal-gearmotors-no-gearbox.html) |
| 1300 | 0.63 | 8.7 | 2.1 | 4.4:1 | [item #1581](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx48l-mm.html) | [item #4821](https://core-electronics.com.au/4-4-1-metal-gearmotor-25dx63l-mm-lp-6v-with-48-cpr-encoder.html) |
| 630 | 1.3 | 18 | 1.9 | 9.7:1 | item #1582 | [item #4822](https://core-electronics.com.au/9-7-1-metal-gearmotor-25dx63l-mm-lp-6v-with-48-cpr-encoder.html) |
| 290 | 2.5 | 35 | 1.9 | 20.4:1 | item #1583 | [item #4823](https://core-electronics.com.au/20-4-1-metal-gearmotor-25dx65l-mm-lp-6v-with-48-cpr-encoder.html) |
| 180 | 3.9 | 54 | 1.7 | 34:1 | item #1584 | [item #4824](https://core-electronics.com.au/34-1-metal-gearmotor-25dx67l-mm-lp-6v-with-48-cpr-encoder.html) |
| 130 | 4.8 | 67 | 1.5 | 47:1 | item #1585 | [item #4825](https://core-electronics.com.au/47-1-metal-gearmotor-25dx67l-mm-lp-6v-with-48-cpr-encoder.html) |
| 80 | 7.5 | 100 | 1.5 | 75:1 | item #1586 | [item #4826](https://core-electronics.com.au/75-1-metal-gearmotor-25dx69l-mm-lp-6v-with-48-cpr-encoder.html) |
| 61 | 9.1 | 130 | 1.4 | 99:1 | item #1587 | [item #4827](https://core-electronics.com.au/99-1-metal-gearmotor-25dx69l-mm-lp-6v-with-48-cpr-encoder.html) |
| 35 | 14 | 190 | 1.2 | 172:1 | item #1588 | [item #4828](https://core-electronics.com.au/172-1-metal-gearmotor-25dx71l-mm-lp-6v-with-48-cpr-encoder.html) |
| 27 | 17 | 240 | 1.1 | 227:1 | item #1589 | [item #4829](https://core-electronics.com.au/227-1-metal-gearmotor-25dx71l-mm-lp-6v-with-48-cpr-encoder.html) |
| 16 | 25 | 350 | – | 378:1 | item #1590 | [item #4830](https://core-electronics.com.au/378-1-metal-gearmotor-25dx73l-mm-lp-6v-with-48-cpr-encoder.html) |
| 12 | 31 | 430 | – | 499:1 | [item #1591](https://core-electronics.com.au/499-1-metal-gearmotor-25dx58l-mm.html) | [item #4831](https://core-electronics.com.au/499-1-metal-gearmotor-25dx73l-mm-lp-6v-with-48-cpr-encoder.html) |

**Note:** The 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 4 kg⋅cm (55 oz⋅in), and the recommended upper limit for intermittently permissible torque is 8 kg⋅cm (110 oz⋅in). 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.

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 Pololu carried without end caps; they use the same motor, encoder, and gearboxes. The black plastic end cap is easily removable to access the encoder or slightly reduce the overall gearmotor size, but a little base plastic will remain, as shown below:

![25D mm metal gearmotor with 48 CPR encoder (with end cap removed).](https://a.pololu-files.com/picture/0J9892.285.jpg?b820dc103b1261c6223b48a80e984945)

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

### Details for this version

Exact gear ratio: (22×22×24) / (12×10×10) = 9.68:1

### 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**](https://www.pololu.com/file/0J1634/25d-metal-gearmotor-dimension-diagram.pdf) (171k pdf).

![Dimensions of the Pololu 25D mm metal gearmotors with encoders. Units are mm over [inches].](https://a.pololu-files.com/picture/0J9977.600.jpg?e0dec0e9030adc49eed5198796d797b9)

*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. Pololu recommends screwing no further than 6 mm (0.24″) into the screw hole.

### Using the Encoder

A two-channel Hall effect encoder senses 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 colour-coded, 8″ (20 cm) leads terminated by a 1×6 female header with a 0.1″ (2.5mm) pitch, as shown in the main product picture. This header works with standard [0.1″ male headers](https://core-electronics.com.au/catalogsearch/result/?q=male+headers), male [jumper](https://core-electronics.com.au/catalogsearch/result/?q=jumper+wires) and precrimped wires. If this header is not convenient for the application, the crimped wires can be pulled out of the header or the header can be cut off. The following table describes the wire functions:

 | Colour | 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 V to 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 indicates the speed of the motor, and the order of the transitions indicates 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:

![Encoder A and B outputs for 25D mm HP 6V metal gearmotor with 48 CPR encoder (motor running at 6 V).](https://a.pololu-files.com/picture/0J3481.600.jpg?06699383bae833cd49d20e43a7de2164)

*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 oscilloscope capture is 12 times the motor rotation frequency.

![25D mm metal gearmotor with 48 CPR encoder (with end cap removed).](https://a.pololu-files.com/picture/0J9893.250.jpg?06ba85bfb64af3c4a95d668ec15a92fa)

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

![The 25D and 37D mm metal gearmotors with encoders have cables that are terminated with a 6-pin, 0.1″-pitch female connector.](https://a.pololu-files.com/picture/0J9897.250.jpg?3f176980a7f9b0e5bf0008af7456f780)

*The 25D and 37D mm metal gearmotors with encoders have cables that are terminated with a 6-pin, 0.1″-pitch female connector.*

### Gearmotor Accessories

- **Mounting brackets:** The face plate has two mounting holes threaded for M3 screws. Pololu’s custom-designed [25D mm metal gearmotor bracket](https://core-electronics.com.au/pololu-25d-mm-metal-gearmotor-bracket-pair.html), shown below, can mount the gearmotor to a project via these mounting holes and the screws supplied with the bracket.
 
![Pololu 25D mm metal gearmotor bracket pair.](https://a.pololu-files.com/picture/0J5908.250.jpg?edeb0134ab8fa52ad1f98a9df3efbe27)

*Pololu 25D mm metal gearmotor bracket pair.*

![Pololu 25D mm gearmotor with bracket.](https://a.pololu-files.com/picture/0J3048.250.jpg?a441009c555a8870c2d25a58e71f7be7)

*Pololu 25D mm gearmotor with bracket.*

- **Wheels and hubs:** The 4 mm diameter gearbox output shaft works with [Pololu multi-hub wheels](https://core-electronics.com.au/pololu-multi-hub-wheel-w-inserts-for-3mm-and-4mm-shafts-80-10mm-white-2-pack.html), as shown in the left picture below. The shaft also works with the [Pololu universal aluminum mounting hub for 4mm shafts](https://core-electronics.com.au/pololu-universal-aluminum-mounting-hub-for-4mm-shaft-4-40-holes-2-pack.html), which can mount larger [Pololu wheels](https://core-electronics.com.au/catalogsearch/result/?q=Pololu+wheels) (60mm-, 70mm-, 80mm-, and 90mm-diameter) or custom wheels and mechanisms to the gearmotor’s output shaft, as shown in the right picture below.
 
![Pololu 80×10mm multi-hub wheel on a Pololu 25D mm metal gearmotor with encoder.](https://a.pololu-files.com/picture/0J9772.250.jpg?c1049f65e9a73ec835ba7202b5f13e1d)

*Pololu 80×10mm multi-hub wheel on a Pololu 25D mm metal gearmotor with encoder.*

![Pololu 60×8mm wheel with 4mm hub adapter on Pololu 25D mm metal gearmotor with encoder.](https://a.pololu-files.com/picture/0J9855.250.jpg?879d6b73a7895b423d6ca21f6d1794e5)

*Pololu 60×8mm wheel with 4mm hub adapter on Pololu 25D mm metal gearmotor with encoder.*

Alternatively, the [4mm scooter wheel adapter](https://core-electronics.com.au/pololu-aluminum-scooter-wheel-adapter-for-4mm-shaft.html) can mount many common scooter, skateboard, and inline skate wheels to the gearmotor’s output shaft, as shown in the left picture below. For a general-purpose hex adapter, the [12mm hex wheel adapter](https://core-electronics.com.au/12mm-hex-wheel-adapter-for-4mm-shaft-2-pack.html) allows this motor to be used with many common hobby RC wheels, as shown in the right picture below.

![A 25D mm gearmotor with encoder connected to a scooter wheel by the 4mm scooter wheel adapter.](https://a.pololu-files.com/picture/0J9850.250.jpg?e992d2f12eee99e0a1bbe48c05762b7a)

*A 25D mm gearmotor with encoder connected to a scooter wheel by the 4mm scooter wheel adapter.*

![12mm hex wheel adapter for 4mm shaft on a 25D mm metal gearmotor with encoder.](https://a.pololu-files.com/picture/0J9978.250.jpg?06368cef7caf40ff19f6bd656aa13db9)

*12mm hex wheel adapter for 4mm shaft on a 25D mm metal gearmotor with encoder.*

- **Motor controllers and drivers:** A number of motor drivers and [motor controllers](https://core-electronics.com.au/catalogsearch/result/?q=motor+controllers) work with these 25D mm metal gearmotors. For the LP and MP versions, Pololu recommends its TB9051FTG-based drivers, including a basic [single carrier](https://core-electronics.com.au/tb9051ftg-single-brushed-dc-motor-driver-carrier.html), a [dual-channel shield for Arduino](https://core-electronics.com.au/dual-tb9051ftg-motor-driver-shield-for-arduino.html), and a [dual-channel expansion board for Raspberry Pi](https://core-electronics.com.au/dual-tb9051ftg-motor-driver-for-raspberry-pi-assembled.html). For the HP versions, Pololu recommends its VNH5019-based motor drivers, available as [single](https://core-electronics.com.au/vnh5019-motor-driver-carrier.html) and [dual carriers](https://core-electronics.com.au/pololu-dual-vnh5019-motor-driver-shield-for-arduino.html), though these can also be a good choice for the lower-power motors.
 
![TB9051FTG Single Motor Driver Carrier.](https://a.pololu-files.com/picture/0J8733.200.jpg?6e24fd8931ba87add62991cc66c0975a)

*TB9051FTG Single Motor Driver Carrier.*

![Pololu dual VNH5019 motor driver shield for Arduino.](https://a.pololu-files.com/picture/0J5209.200.jpg?837a27a9a09c8a862b076dcad40e4482)

*Pololu dual VNH5019 motor driver shield for Arduino.*

For higher-level control interfaces such as USB, RC, analogue voltages, I²C, or TTL serial, consider [Motoron motor controllers](https://core-electronics.com.au/catalogsearch/result/?q=Motoron), [Jrk motor controllers](https://core-electronics.com.au/catalogsearch/result/?q=Jrk), or [RoboClaw motor controllers](https://core-electronics.com.au/catalogsearch/result/?q=RoboClaw). These controllers are available in various power levels, several of which can handle the 25D mm metal gearmotors. Pololu generally recommends a motor controller that can handle continuous currents above the stall current of the motor.

![Three Motoron M3H550 controllers being controlled by a Raspberry Pi.](https://a.pololu-files.com/picture/0J12165.230.jpg?0bacecd72951314f319c2a2ee8a13ab2)

*Three Motoron M3H550 controllers being controlled by a Raspberry Pi.*

![Jrk G2 21v3 USB Motor Controller with Feedback.](https://a.pololu-files.com/picture/0J8913.200.jpg?b860f61e87dadd82afea074d60720dfc)

*Jrk G2 21v3 USB Motor Controller with Feedback.*

![RoboClaw 2x7A Motor Controller (V5B) in its included case.](https://a.pololu-files.com/picture/0J7485.220.jpg?73b200559e345d2372c2ce374538f94e)

*RoboClaw 2x7A Motor Controller (V5B) in its included case.*

- **Current sensors:** Current sensors can be used to monitor motor current.
 
![ACS711EX current sensor carrier -15.5A to +15.5A.](https://a.pololu-files.com/picture/0J4597.200.jpg?0761d0776e6321d47d359794ba1bff07)

*ACS711EX current sensor carrier -15.5A to +15.5A.*

![ACS724LLCTR-05AB Current Sensor Carrier -5A to +5A.](https://a.pololu-files.com/picture/0J10101.200.jpg?b340af49f700a32ed899f9be12b91341)

*ACS724LLCTR-05AB Current Sensor Carrier -5A to +5A.*

## Images

- [Product image 1](https://core-electronics.com.au/media/catalog/product/P/O/POLOLU-5722_ecommerce_1786411691183.jpg)