White Paper

7.2 Volt Motor

A.P.A. Robotics

Project Overview: APA has attempted to replace the traditional VEX motors with more
efficient motors intended to run directly off the 7.2 volt batteries used for the VEX robot. In
this paper we will include a detailed list of materials used in the APA modification; and the
basics of how these pieces are used to drive the robot.
The use of the 7.2 volt motors increases torque and speed as well as reducing the over-amp
problem when the larger VEX motors are tied directly to the Cortex controller.
Materials Setup: A motor controller is connected to the Cortex robot controller via a three
wire PWM extender. The motor controller is connected directly to a 7.2 volt battery. A PWM
signal is sent from the Cortex to the motor controller, this controls the output from the motor
controller to a gear-head motor. A motor controller is able to reverse polarity output (unlike
some H-Bridge controllers, in order to reverse the motor.
Documentation seems to indicate that any PWM motor controller may be used with brushed
motors. However; using a VEX motor on the motor controller will likely not be effective, as the
VEX motor is designed to run directly off of a PWM system; as opposed to increasing and
decreasing voltage, as is the case with a brushed motor.

HSIANG NENG Geared Motor 2011.12.2

No-load current: 0.27 A at 310 RPM

Stall current: 4.8 A
Max Torque: 4.6 lb-inch
HSIANG NENG Geared Motor
2011.12.2HN-35GMB-2513T
DC-7.2v

Ordering: Available at www.robotshop.com.

Price of two motors, $79.99