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

• Pololu 210:1 Micro Metal Gearmotor HPCB 6V w/ 12 CPR Encoder, Back Connector
• Features a metal gearbox with 210:1 ratio
• Includes a 12 CPR encoder for precise control
• Operates on 6V with 160 RPM no-load speed
• Compact 10×12 mm gearbox cross-section
• Supports bidirectional operation with polarity switch

The Pololu 210:1 Micro Metal Gearmotor HPCB 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 of the motor shaft, with the ability to calculate the gearbox output by multiplying by the gearbox reduction factor.

The encoder is equipped with a 6-pin JST SH-style male connector, compatible with corresponding cables and connector boards. The back connector orientation aligns parallel to the motor. The motor terminals are accessible via red and black wires when used with appropriate JST cables, with M1 consistently connecting to the motor terminal marked with a “+”. The motor is designed for bidirectional operation by alternating the power polarity.

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, driven low or pulled to Vcc, depending on motor orientation. These signals are square waves with 50% duty cycles and are 90° out of phase, indicating motor direction and speed through the order and frequency of transitions.