Pololu 210:1 Micro Metal Gearmotor MP 6V w/ 12 CPR Encoder, Back Connector

• Pololu 210:1 Micro Metal Gearmotor MP 6V w/ 12 CPR Encoder, Back Connector
• Features 210:1 metal gearbox
• Includes 12 CPR encoder
• Operates at 6V and 100 RPM
• Stall torque of 1.7 kg⋅cm
• Compact 10×12 mm gearbox

The Pololu 210:1 Micro Metal Gearmotor MP 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 integrates 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 CPR of the gearbox output shaft.

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. The motor terminals are accessible via red and black wires when used with appropriate JST cables, with M1 always connecting to the motor terminal marked with a "+" on the back of the motor case. The motor is designed to operate in both directions by alternating the polarity of the power to the motor leads.

The sensors are powered through Vcc and GND pins, with Vcc ranging from 2.7 V to 18 V. The quadrature outputs A and B are digital signals that indicate motor direction and speed. These signals are square waves with approximately 50% duty cycles and are 90° out of phase. The built-in hysteresis in the sensors' comparators prevents spurious signals near transition points.