Pololu 30:1 Micro Metal Gearmotor HP 6V w/ 12 CPR Encoder, Back Connector

• Pololu 30:1 Micro Metal Gearmotor HP 6V w/ 12 CPR Encoder, Back Connector
• Features a 30:1 metal gearbox
• Includes 12 CPR Hall effect encoder
• Supports 6 V operation
• Provides stall torque of 0.57 kg⋅cm
• Has a compact 10×12 mm gearbox

The Pololu 30:1 Micro Metal Gearmotor HP 6V w/ 12 CPR Encoder, Back Connector is a compact brushed DC motor equipped with a metal gearbox. It features a 10×12 mm gearbox cross-section and a 9 mm long, 3 mm diameter D-shaped output shaft. This gearmotor is integrated with a two-channel incremental Hall effect encoder, which detects the rotation of a magnetic disk on the motor shaft's rear protrusion. The encoder provides a resolution of 12 counts per revolution (CPR) of the motor shaft, which can be multiplied by the gearbox reduction factor to determine the counts per revolution of the gearbox output.

The encoder is equipped with a 6-pin JST SH-style male connector, compatible with corresponding cables and connector boards. The back connector orientation is parallel to the motor, ensuring efficient integration into various applications. The motor terminals are accessible via red and black wires when used with appropriate JST cables, allowing for flexible operation by alternating the polarity of the power to the motor leads.

The sensors are powered through designated pins, with Vcc ranging from 2.7 V to 18 V. The quadrature outputs A and B provide digital signals that indicate motor direction and speed, with built-in hysteresis to prevent spurious signals. The signals are square waves with a 50% duty cycle and are approximately 90° out of phase, ensuring precise motor control.