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Pololu 3217 - 47:1 Metal Gearmotor 25Dx52L mm HP 12V with 48 CPR Encoder
ID: 562784
This gearmotor consists of a high-power, 12 V brushed DC motor combined with a 46.85:1 metal spur gearbox, and it has an integrated 48 CPR quadrature encoder on the motor shaft, which provides 2248.86 counts per revolution of the gearbox’s output shaft.
Overview:
These cylindrical brushed DC gearmotors are available in a wide range of gear ratios and with five different motors (two power levels of 6V motors and three power levels of 12V motors). The 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 your design requirements change (though the length of the gearbox tends to increase with the gear ratio). All versions are also available with an integrated 48 CPR quadrature encoder on the motor shaft. Please see the 25D metal gearmotor comparison table for detailed specifications of all our 25D metal gearmotors. This dynamically-sortable table can help you find the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below:
| Rated Voltage | Motor Type | Stall Current @ Rated Voltage | No-Load Speed @ Rated Voltage | Approximate Stall Torque @ Rated Voltage |  With Encoder |  Without Encoder |
|---|---|---|---|---|---|---|
| 6 V | high-power (HP) |
6.5 A | 10,000 RPM | 5 oz-in | 1:1 HP 6V w/encoder | |
| 2150 RPM | 20 oz-in | 4.4:1 HP 6V w/encoder | 4.4:1 HP 6V | |||
| 990 RPM | 39 oz-in | 9.7:1 HP 6V w/encoder | 9.7:1 HP 6V | |||
| 460 RPM | 75 oz-in | 20.4:1 HP 6V w/encoder | 20.4:1 HP 6V | |||
| 280 RPM | 90 oz-in | 34:1 HP 6V w/encoder | 34:1 HP 6V | |||
| 200 RPM | 115 oz-in | 47:1 HP 6V w/encoder | 47:1 HP 6V | |||
| 130 RPM | 150 oz-in | 75:1 HP 6V w/encoder | 75:1 HP 6V | |||
| 97 RPM | 210 oz-in | 99:1 HP 6V w/encoder | 99:1 HP 6V | |||
| 56 RPM | 350 oz-in | 172:1 HP 6V w/encoder | 172:1 HP 6V | |||
| 6 V | low-power (LP) |
2.4 A | 6200 RPM | 2 oz-in | 1:1 LP 6V w/encoder | |
| 1300 RPM | 8 oz-in | 4.4:1 LP 6V w/encoder | 4.4:1 LP 6V | |||
| 590 RPM | 17 oz-in | 9.7:1 LP 6V w/encoder | 9.7:1 LP 6V | |||
| 290 RPM | 33 oz-in | 20.4:1 LP 6V w/encoder | 20.4:1 LP 6V | |||
| 170 RPM | 50 oz-in | 34:1 LP 6V w/encoder | 34:1 LP 6V | |||
| 120 RPM | 65 oz-in | 47:1 LP 6V w/encoder | 47:1 LP 6V | |||
| 78 RPM | 95 oz-in | 75:1 LP 6V w/encoder | 75:1 LP 6V | |||
| 58 RPM | 130 oz-in | 99:1 LP 6V w/encoder | 99:1 LP 6V | |||
| 34 RPM | 200 oz-in | 172:1 LP 6V w/encoder | 172:1 LP 6V | |||
| 25 RPM | 220 oz-in | 227:1 LP 6V w/encoder | 227:1 LP 6V | |||
| 15 RPM | 300 oz-in | 378:1 LP 6V w/encoder | 378:1 LP 6V | |||
| 11 RPM | 400 oz-in | 499:1 LP 6V w/encoder | 499:1 LP 6V | |||
| 12 V | high-power (HP) |
5.6 A | 10,200 RPM | 5.5 oz-in | 1:1 HP 12V w/encoder | |
| 2250 RPM | 23 oz-in | 4.4:1 HP 12V w/encoder | 4.4:1 HP 12V | |||
| 1030 RPM | 44 oz-in | 9.7:1 HP 12V w/encoder | 9.7:1 HP 12V | |||
| 500 RPM | 85 oz-in | 20.4:1 HP 12V w/encoder | 20.4:1 HP 12V | |||
| 290 RPM | 120 oz-in | 34:1 HP 12V w/encoder | 34:1 HP 12V | |||
| 210 RPM | 165 oz-in | 47:1 HP 12V w/encoder | 47:1 HP 12V | |||
| 130 RPM | 240 oz-in | 75:1 HP 12V w/encoder | 75:1 HP 12V | |||
| 100 RPM | 300 oz-in | 99:1 HP 12V w/encoder | 99:1 HP 12V | |||
| 12 V | medium-power (MP) |
2.1 A | 7800 RPM | 2.7 oz-in | 1:1 MP 12V w/encoder | |
| 1700 RPM | 11 oz-in | 4.4:1 MP 12V w/encoder | 4.4:1 MP 12V | |||
| 770 RPM | 22 oz-in | 9.7:1 MP 12V w/encoder | 9.7:1 MP 12V | |||
| 370 RPM | 42 oz-in | 20.4:1 MP 12V w/encoder | 20.4:1 MP 12V | |||
| 220 RPM | 63 oz-in | 34:1 MP 12V w/encoder | 34:1 MP 12V | |||
| 160 RPM | 85 oz-in | 47:1 MP 12V w/encoder | 47:1 MP 12V | |||
| 100 RPM | 125 oz-in | 75:1 MP 12V w/encoder | 75:1 MP 12V | |||
| 76 RPM | 165 oz-in | 99:1 MP 12V w/encoder | 99:1 MP 12V | |||
| 43 RPM | 250 oz-in | 172:1 MP 12V w/encoder | 172:1 MP 12V | |||
| 33 RPM | 320 oz-in | 227:1 MP 12V w/encoder | 227:1 MP 12V | |||
| 12 V | low-power (LP) |
1.1 A | 5600 RPM | 2 oz-in | 1:1 LP 12V w/encoder | |
| 1200 RPM | 8 oz-in | 4.4:1 LP 12V w/encoder | 4.4:1 LP 12V | |||
| 560 RPM | 15 oz-in | 9.7:1 LP 12V w/encoder | 9.7:1 LP 12V | |||
| 260 RPM | 29 oz-in | 20.4:1 LP 12V w/encoder | 20.4:1 LP 12V | |||
| 150 RPM | 43 oz-in | 34:1 LP 12V w/encoder | 34:1 LP 12V | |||
| 110 RPM | 60 oz-in | 47:1 LP 12V w/encoder | 47:1 LP 12V | |||
| 71 RPM | 85 oz-in | 75:1 LP 12V w/encoder | 75:1 LP 12V | |||
| 55 RPM | 115 oz-in | 99:1 LP 12V w/encoder | 99:1 LP 12V | |||
| 31 RPM | 180 oz-in | 172:1 LP 12V w/encoder | 172:1 LP 12V | |||
| 23 RPM | 240 oz-in | 227:1 LP 12V w/encoder | 227:1 LP 12V | |||
| 14 RPM | 320 oz-in | 378:1 LP 12V w/encoder | 378:1 LP 12V | |||
Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. For these gearboxes, the recommended upper limit for instantaneous torque is 200 oz-in (15 kg-cm); we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of a second) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP) motors; 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; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.
Details for item #3217:
Exact gear ratio: (22×22×22×22×24):(12×10×10×10×10)≈46.85:1
Using the encoder (if applicable):
The versions of these gearmotors with encoders use a A two-channel Hall effect sensor to detect 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 color-coded, 8″ (20 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:
| 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.
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 above oscilloscope capture is 12 times the motor rotation frequency.
Dimensions:
| Size: | 25D x 64L mm |
|---|---|
| Weight: | 101 g |
| Shaft diameter: | 4 mm |
General specifications:
| Gear ratio: | 46.85:1 |
|---|---|
| Free-run speed @ 12V: | 210 rpm |
| Free-run current @ 12V: | 300 mA |
| Stall current @ 12V: | 5600 mA |
| Stall torque @ 12V: | 165 oz·in |
| Free-run speed @ 6V: | 105 rpm1 |
| Stall current @ 6V: | 2800 mA1 |
| Stall torque @ 6V: | 80 oz·in1 |
| Lead length: | 8 in2 |
| Motor type: | 5.6A stall @ 12V (HP 12V) |
| Encoders?: | Y |
Notes:
- 1 This motor will run at 6 V but is intended for operation at 12 V.
- 2 May vary by a few inches.
562784
Data sheet
- DC motor power
- HP
- Gear material
- Metal
- Gear ratio
- 47:1
- Rotation speed
- 210RPM
- Shaft diameter
- 4 mm
- Shaft shape
- D
- Obustronny wał silnika
- Tak
- Power supply voltage
- 12V
Manufacturer BTC Korporacja sp. z o. o. Lwowska 5 05-120 Legionowo Poland sprzedaz@kamami.pl 22 767 36 20
Responsible person BTC Korporacja sp. z o. o. Lwowska 5 05-120 Legionowo Poland sprzedaz@kamami.pl 22 767 36 20
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This gearmotor consists of a high-power, 12 V brushed DC motor combined with a 46.85:1 metal spur gearbox, and it has an integrated 48 CPR quadrature encoder on the motor shaft, which provides 2248.86 counts per revolution of the gearbox’s output shaft.