Pololu Micro Metal Gearmotors PDF

Micro Metal Gearmotors
Pololu Micro Metal Gearmotors are available in 11 different gear ratios, from 5:1 up to 1000:1, and with five different
motor options:
 LP 6V: Low-power 6 V with precious metal brushes

 MP 6V: Medium-power 6 V with precious metal brushes
 HP 6V: High-power 6 V with precious metal brushes
 HPCB 6V: High-power 6 V with long-life carbon brushes
carbon precious metal
 HPCB 12V: High-power 12 V with long-life carbon brushes brushes brushes
Each motor is available with an optional extended rear motor shaft to allow for the addition of an encoder such as
Pololu item #3081 Magnetic Encoder Pair Kit.
Dimensions of versions with carbon brushes (HPCB)

units: mm
[inches]
Dimensions of versions with precious metal brushes (HP, MP, LP)

units: mm
[inches]
L = 9 mm [0.35 in] for all gear ratios except 1000:1. L = 12.5 mm [0.49 in] for the 1000:1 gear ratio. Max length for M1.6 mounting
screws is 1.3 mm (from gearbox mounting surface). Approximate weight is 10 g.
May 2018 – Rev 2.0 © Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
1
Micro Metal Gearmotors
Performance summary and table of contents
No Load At Maximum Efficiency Stall Extrapolation
Gear Max
Motor Rated Ratio Speed Current Speed Torque Current Output Power Torque Current Graph
Pololu Item #
Type Voltage Page
:1 RPM A RPM kg⋅mm A W W kg⋅mm A
1100, 2200 4.995 2500 1.5

1099, 2201 9.96 1300 1.8
993, 2202 29.86 450 320 0.66 0.11 0.22 0.31 2.9 3
1098, 2203 51.45 270 200 1.0 0.10 0.20 0.29 4.4 4
Low-Power
2360, 2209 75.81 180 140 1.3 0.10 0.19 0.29 6.4 5
(LP 6V)
6V 992, 2204 100.37 130 0.02 100 1.7 0.10 0.17 0.25 7.4 0.36 6
1097, 2205 150.58 90 67 2.6 0.11 0.18 0.25 11 7
1096, 2206 210.59 65 46 4.1 0.12 0.19 0.25 16 8
1095, 2207 248.98 54 39 4.2 0.11 0.17 0.23 17 9
1094, 2208 297.92 45 34 4.4 0.09 0.15 0.22 20 10
1596, 3058 986.41 13 10 12 0.09 0.12 * 55 11
2362, 2376 4.995 4400 1.8
2363, 2377 9.96 2200 2.2
2364, 2378 29.86 720 510 0.80 0.21 0.41 0.57 3.3 12
Medium-Power
2365, 2379 51.45 420 310 1.2 0.19 0.38 0.55 5.4 13
(MP 6V)
2366, 2380 75.81 290 220 1.6 0.17 0.35 0.54 7.8 14
6V 2367, 2381 100.37 220 0.04 170 1.9 0.17 0.32 0.50 9.4 0.67 15
2368, 2382 150.58 150 110 2.6 0.15 0.30 0.48 13 16
2369, 2383 210.59 100 83 3.4 0.16 0.29 0.46 17 17
2370, 2384 248.98 88 69 4.5 0.17 0.31 0.48 22 18
2371, 2385 297.92 73 56 5.0 0.17 0.29 0.44 24 19
2372, 3059 986.41 22 17 13 0.16 0.23 * 63 20
1000, 2210 4.995 6000 3.8
999, 2211 9.96 3000 4.4
1093, 2212 29.86 1000 830 1.0 0.36 0.89 1.5 5.7 21
998, 2213 51.45 590 490 1.5 0.32 0.75 1.3 8.6 22
High-Power
2361, 2215 75.81 410 340 2.3 0.34 0.80 1.4 13 23

(HP 6V)
6V 1101, 2214 100.37 310 0.07 250 2.9 0.33 0.73 1.3 17 1.6 24
997, 2386 150.58 210 170 3.9 0.31 0.68 1.2 24 25
996, 2216 210.59 150 120 5.0 0.32 0.62 1.1 29 26
995, 2217 248.98 120 100 5.5 0.30 0.59 1.1 34 27
994, 2218 297.92 100 87 6.5 0.31 0.58 1.1 40 28
1595, 2373 986.41 31 26 20 0.32 0.53 * 120 29
3060, 3082 4.995 6000 3.0
High-Power, Carbon Brushes
3061, 3071 9.96 3000 3.6

3062, 3072 29.86 1100 840 1.0 0.43 0.85 1.2 4.5 30
3063, 3073 51.45 650 490 1.6 0.42 0.80 1.2 7.4 31
(HPCB 6V)
3064, 3074 75.81 430 330 2.5 0.43 0.87 1.3 11 32

6V 3065, 3075 100.37 330 0.10 260 3.3 0.44 0.86 1.3 16 1.5 33
3066, 3076 150.58 220 170 4.1 0.39 0.73 1.1 20 34
3067, 3077 210.59 160 120 5.9 0.40 0.74 1.1 28 35
3068, 3078 248.98 130 100 6.6 0.40 0.71 1.1 32 36
3069, 3079 297.92 110 85 7.4 0.42 0.65 1.0 34 37
3070, 3080 986.41 33 26 22 0.39 0.59 * 110 38
3036, 3047 4.995 6000 1.9
High-Power, Carbon Brushes
3037, 3048 9.96 3000 2.4

3038, 3049 29.86 1100 840 1.0 0.23 0.82 1.1 3.9 39
3039, 3050 51.45 650 500 1.5 0.22 0.79 1.1 6.7 40
(HPCB 12V)
3040, 3051 75.81 450 350 2.1 0.20 0.76 1.1 10 41

12 V 3041, 3052 100.37 330 0.06 260 2.9 0.21 0.78 1.1 13 0.75 42
3042, 3053 150.58 220 170 4.2 0.21 0.73 1.0 18 43
3043, 3054 210.59 160 120 5.6 0.21 0.71 1.0 25 44
3044, 3055 248.98 130 110 6.6 0.21 0.72 1.1 30 45
3045, 3056 297.92 110 87 7.3 0.21 0.65 1.0 33 46
3046, 3057 986.41 35 27 21 0.19 0.59 * 100 47
* Operating the 1000:1 gear ratios at maximum power is likely to damage the gearboxes.
Notes:
1) Max efficiency data and performance graphs currently unavailable for 5:1 and 10:1 gear ratios.
2) Listed stall torques and currents are theoretical extrapolations; units will typically stall well before these points as the motors heat up. Stalling or overloading
gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit for instantaneous torque is 25 kg⋅mm for the
1000:1 gearboxes and 20 kg⋅mm for all other gear ratios; we strongly advise keeping applied loads well under these limits. Stalls can also result in rapid
(potentially on the order of seconds) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP and HPCB) motors; a
general recommendation for brushed DC motor operation is 25% or less of the stall current.
2
Pololu Items #993, #2202 (30:1 Micro Metal Gearmotor LP 6V) Performance at 6 V
100 0.50 500
0.45
90 0.45 450 no-load speed: 450 rpm
0.40
80 0.40 400
Istall ≈ 0.36 A
max power: 0.31 W 0.35
at 1.4 kg⋅mm,
70 0.35 350 f(τ) = 420 − 150τ f(τ) = 0.032 + 0.11τ
26% efficiency,
210 rpm, 0.20 A
0.30
60 0.30 300
max efficiency: 34%
at 0.66 kg⋅mm, 0.22 W, 0.25
320 rpm, 0.11 A
efficiency (%)
speed (rpm)
50 0.25 250
current (A)
power (W)
0.20
40 0.20 200
0.15
30 0.15 150
0.10
20 0.10 100 τstall ≈
2.9 kg⋅mm
10 0.05 50 0.05
no-load current: 0.019 A
0 0.00 0 0.00
0 0.5 1 1.5 2 2.5
torque (kg⋅mm)
3
100 0.45 275
0.40
no-load speed: 270 rpm
90 250
0.40
Istall ≈ 0.36 A
0.35
225
80 f(τ) = 260 − 59τ f(τ) = 0.027 + 0.075τ
0.35
max power: 0.29 W
at 2.2 kg⋅mm, 0.30
200
25% efficiency,
70
130 rpm, 0.19 A
0.30
175
0.25
60
max efficiency: 34%
0.25
150 at 0.95 kg⋅mm, 0.20 W,
200 rpm, 0.10 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
0.20
125
0.20
40
100 0.15
0.15
30
75
0.10
0.10
20 τstall ≈
50
4.4 kg⋅mm
0.05
0.05
10 25
0 0.00 0 0.00
0 0.5 1 1.5 2 2.5 3 3.5 4
torque (kg⋅mm)
4
100 0.45 200 0.45
90 180 no-load speed: 180 rpm

0.40 0.40
Istall ≈ 0.37 A
80 160
0.35 0.35
max power: 0.29 W
f(τ) = 180 − 27τ f(τ) = 0.025 + 0.054τ
at 3.2 kg⋅mm,
70 140 24% efficiency,
88 rpm, 0.20 A
0.30 0.30
60 120
0.25 max efficiency: 33% 0.25

at 1.3 kg⋅mm, 0.19 W,
efficiency (%)
speed (rpm)
50 100 140 rpm, 0.10 A
current (A)
power (W)
0.20 0.20
40 80
0.15 0.15
30 60
0.10 0.10
20 40 τstall ≈
6.4 kg⋅mm
0.05 0.05
10 20
0 0.00 0 0.00
0 1 2 3 4 5 6
torque (kg⋅mm)
5
100 0.40 140
no-load speed: 130 rpm 0.40
90
0.35
120 Istall ≈ 0.36 A
0.35
80
f(τ) = 130 − 17τ f(τ) = 0.031 + 0.044τ
0.30
max power: 0.25 W
100 0.30
70 at 3.7 kg⋅mm,
21% efficiency,
65 rpm, 0.19 A
0.25
60 0.25
80
max efficiency: 28%
at 1.7 kg⋅mm, 0.17 W,
efficiency (%)
100 rpm, 0.10 A

speed (rpm)
50 0.20
current (A)
power (W)
0.20
60
40
0.15
0.15
30
40
0.10
0.10
20 τstall ≈
7.4 kg⋅mm
20
0.05 0.05
10
0 0.00 0 0.00
0 1 2 3 4 5 6 7
torque (kg⋅mm)
6
100 0.40 100
0.45

0.35 0.40
80 80 Istall ≈ 0.37 A

0.30
f(τ) = 87 − 7.6τ at 5.7 kg⋅mm, f(τ) = 0.032 + 0.029τ
43 rpm, 0.20 A
0.30
0.25
60 60
max efficiency: 28%
at 2.6 kg⋅mm, 0.18 W, 0.25
67 rpm, 0.11 A
efficiency (%)
speed (rpm)
50 0.20 50
current (A)
power (W)
0.20
40 40
0.15
0.15
30 30
0.10
0.10
20 20 τstall ≈
11 kg⋅mm
0.05
10 10 0.05
0 0.00 0 0.00
0 2 4 6 8 10
torque (kg⋅mm)
7
100 0.40 70
0.45

90
0.35 0.40
60
80
Istall ≈ 0.35 A
0.35
0.30 max power: 0.25 W
at 8.1 kg⋅mm,
50 f(τ) = 61 − 3.7τ f(τ) = 0.040 + 0.019τ
70 21% efficiency,
30 rpm, 0.20 A 0.30
0.25
60 max efficiency: 27%
40 at 4.1 kg⋅mm, 0.19 W,
46 rpm, 0.12 A 0.25
efficiency (%)
speed (rpm)
50 0.20
current (A)
power (W)
0.20
30
40
0.15
0.15
30
20
0.10
0.10
20 τstall ≈
16 kg⋅mm
10
0.05
0.05
10
0 0.00 0 0.00
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
8
100 0.35 55
90 50
0.35
0.30
Istall ≈ 0.34 A
45
80
f(τ) = 51 − 3.0τ max power: 0.23 W f(τ) = 0.035 + 0.017τ
0.30
at 8.6 kg⋅mm,
40
0.25 21% efficiency,
70
26 rpm, 0.19 A
35 0.25
max efficiency: 26%
60
at 4.2 kg⋅mm, 0.17 W,
0.20
39 rpm, 0.11 A
30
efficiency (%)
0.20
speed (rpm)
50
current (A)
power (W)
25
0.15
40
0.15
20
30
0.10
15
0.10
20 τstall ≈
10
17 kg⋅mm
0.05
0.05
10 5
0 0.00 0 0.00
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
9
100 0.35 50
0.40
0.30 0.35
80 40 Istall ≈ 0.33 A

f(τ) = 44 − 2.2τ f(τ) = 0.027 + 0.015τ
0.25 at 10 kg⋅mm,
70 35
21% efficiency,
22 rpm, 0.18 A
0.25
60 30
0.20 max efficiency: 27%
at 4.4 kg⋅mm, 0.15 W,
34 rpm, 0.094 A
efficiency (%)
speed (rpm)
50 25 0.20
current (A)
power (W)
0.15
40 20
0.15
30 15
0.10
0.10
20 10 τstall ≈
20 kg⋅mm
0.05
0.05
10 5
0 0.00 0 0.00
0 2 4 6 8 10 12 14 16 18
torque (kg⋅mm)
10
100 0.300 14

0.35
0.275
90
Istall ≈ 0.33 A
12
0.250
80 f(τ) = 13 − 0.24τ f(τ) = 0.023 + 0.0056τ 0.30
0.225
10
70
0.200 theoretical max power 0.25
60
0.175
8
max efficiency: 24%
0.20
at 12 kg⋅mm, 0.12 W,
efficiency (%)
speed (rpm)
50 0.150
current (A)
power (W)
10 rpm, 0.088 A
6
0.125
40 0.15
0.100
30
4
0.10
0.075
20 τstall ≈
0.050 55 kg⋅mm
2
0.05
10
0.025
0 0.000 0 0.00
0 10 20 30 40 50
torque (kg⋅mm)
11
Pololu Items #2364, #2378 (30:1 Micro Metal Gearmotor MP 6V) Performance at 6 V
100 0.9 800
90 no-load speed: 720 rpm 0.8

0.8
700
80 0.7
0.7
600 max power: 0.57 W Istall ≈ 0.67 A
at 1.7 kg⋅mm,
70 26% efficiency,
f(τ) = 660 − 200τ f(τ) = 0.066 + 0.18τ 0.6
0.6 330 rpm, 0.37 A
500
60
max efficiency: 33%
at 0.80 kg⋅mm, 0.41 W, 0.5
0.5
510 rpm, 0.21 A
efficiency (%)
speed (rpm)
50 400
current (A)
power (W)
0.4 0.4
40
300
0.3 0.3
30
200
0.2 0.2
20 τstall ≈
3.3 kg⋅mm
100
0.1 0.1
10

0 0.0 0 0.0
0 0.5 1 1.5 2 2.5 3
torque (kg⋅mm)
12
100 0.9 450
0.8

90
0.8 400
0.7
Istall ≈ 0.67 A
80
0.7 350
f(τ) = 390 − 72τ max power: 0.55 W f(τ) = 0.053 + 0.11τ

0.6
70 at 2.7 kg⋅mm,
0.6 300 25% efficiency,
200 rpm, 0.36 A
60 0.5
0.5 250 max efficiency: 33%

at 1.2 kg⋅mm, 0.38 W,
efficiency (%)
speed (rpm)
50
current (A)
power (W)
310 rpm, 0.19 A

0.4
0.4 200
40
0.3
0.3 150
30
0.2
0.2 100
20 τstall ≈
5.4 kg⋅mm
0.1
0.1 50
10
0 0.0 0 0.0
0 1 2 3 4 5
torque (kg⋅mm)
13
100 0.9 300
275
90 0.7
0.8
Istall ≈ 0.67 A
250
80
0.7 f(τ) = 270 − 35τ f(τ) = 0.044 + 0.080τ 0.6
225
max power: 0.54 W
70 at 3.9 kg⋅mm,
0.6 200 25% efficiency,
140 rpm, 0.36 A 0.5
60
175
0.5
max efficiency: 34%
0.4
efficiency (%)
speed (rpm)
50 150
current (A)
at 1.6 kg⋅mm, 0.35 W,
power (W)
220 rpm, 0.17 A

0.4
125
40
0.3
0.3 100
30
75 0.2
0.2
20 τstall ≈
50 7.8 kg⋅mm
0.1
0.1
10
25
0 0.0 0 0.0
0 1 2 3 4 5 6 7
torque (kg⋅mm)
14
100 0.8 225

0.7
90
200
0.7 Istall ≈ 0.66 A
80
f(τ) = 210 − 22τ f(τ) = 0.042 + 0.065τ 0.6
175
at 4.7 kg⋅mm,
70 24% efficiency,
150 100 rpm, 0.35 A 0.5
0.5
60
125
max efficiency: 33% 0.4
at 1.9 kg⋅mm, 0.32 W,
efficiency (%)
speed (rpm)
50 0.4
current (A)
power (W)
170 rpm, 0.17 A

100
40 0.3
0.3
75
30
0.2
0.2
50
20 τstall ≈
9.4 kg⋅mm
0.1 0.1
25
10
0 0.0 0 0.0
0 1 2 3 4 5 6 7 8 9
torque (kg⋅mm)
15
100 0.7 160
0.7
90
140
0.6
Istall ≈ 0.63 A
80 max power: 0.48 W 0.6

at 6.5 kg⋅mm,
f(τ) = 140 − 11τ f(τ) = 0.038 + 0.045τ
120 24% efficiency,
0.5 71 rpm, 0.33 A
70
0.5
100
60
at 2.6 kg⋅mm, 0.30 W, 0.4
110 rpm, 0.15 A
efficiency (%)
speed (rpm)
50 80
current (A)
power (W)
0.3
40 0.3
60
30
0.2
0.2
40
20 τstall ≈
13 kg⋅mm
0.1 0.1
20
10
0 0.0 0 0.0
0 2 4 6 8 10 12
torque (kg⋅mm)
16
100 0.7 120
90
0.7
0.6
100
Istall ≈ 0.64 A
80
max power: 0.46 W
0.6
at 8.7 kg⋅mm,
f(τ) = 100 − 6.0τ f(τ) = 0.039 + 0.035τ
23% efficiency,
0.5
70 52 rpm, 0.34 A
80
0.5
60
0.4
max efficiency: 31%
at 3.4 kg⋅mm, 0.29 W,
0.4
efficiency (%)
speed (rpm)
50 60
current (A)
83 rpm, 0.16 A
power (W)
0.3
40
0.3
40
30
0.2
0.2
20 τstall ≈
20 17 kg⋅mm
0.1
0.1
10
0 0.0 0 0.0
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
17
100 0.8 90
0.7
90 Istall ≈ 0.65 A
80
0.7
0.6
f(τ) = 87 − 4.0τ f(τ) = 0.043 + 0.028τ
80
70
0.6
max power: 0.48 W
70 at 11 kg⋅mm, 0.5
60 23% efficiency,
43 rpm, 0.35 A
0.5
60
50 0.4
max efficiency: 31%
efficiency (%)
speed (rpm)
50 0.4 at 4.5 kg⋅mm, 0.31 W,
current (A)
power (W)
69 rpm, 0.17 A
40
0.3
40
0.3
30
30
0.2
0.2
20
20 τstall ≈
22 kg⋅mm
0.1
0.1
10
10
0 0.0 0 0.0
0 5 10 15 20
torque (kg⋅mm)
18
100 0.7 80

90 0.7
70
0.6
Istall ≈ 0.64 A
80
0.6
60 f(τ) = 70 − 2.9τ max power: 0.44 W f(τ) = 0.043 + 0.025τ
0.5 at 12 kg⋅mm,
70
21% efficiency,
35 rpm, 0.34 A
0.5
50
60
0.4
max efficiency: 29%
at 5.0 kg⋅mm, 0.29 W, 0.4
efficiency (%)
speed (rpm)
50 40
current (A)
power (W)
56 rpm, 0.17 A
0.3
40
0.3
30
30
0.2
20 0.2
20 τstall ≈
24 kg⋅mm
0.1
10 0.1
10
0 0.0 0 0.0
0 5 10 15 20
torque (kg⋅mm)
19
100 0.60 22.5
0.7
0.55
90 Istall ≈ 0.66 A
20
0.50
f(τ) = 21 − 0.32τ f(τ) = 0.037 + 0.0093τ 0.6
80
17.5
0.45
70
0.5
0.40 15
theoretical max power
60
0.35
12.5 0.4
max efficiency: 24%
efficiency (%)
speed (rpm)
50 0.30
current (A)
power (W)
at 13 kg⋅mm, 0.23 W,
17 rpm, 0.16 A
10
0.25 0.3
40
0.20 7.5
30
0.2
0.15
5
20 τstall ≈
0.10 67 kg⋅mm
0.1
2.5
10
0.05
0 0.00 0 0.0
0 10 20 30 40 50 60
torque (kg⋅mm)
20
Pololu Items #1093, #2212 (30:1 Micro Metal Gearmotor HP 6V) Performance at 6 V
100 2.0 1200 2.00
90 1.8
no-load speed: 1000 rpm max power: 1.5 W 1.75
1000 at 2.8 kg⋅mm,
29% efficiency, Istall ≈ 1.6 A
80 1.6
510 rpm, 0.86 A
1.50
f(τ) = 1000 − 180τ f(τ) = 0.081 + 0.27τ
70 1.4
800
1.25
60 1.2
max efficiency: 41%
at 1.0 kg⋅mm, 0.89 W,
830 rpm, 0.36 A
efficiency (%)
speed (rpm)
50 1.0 600 1.00
current (A)
power (W)
40 0.8
0.75
400
30 0.6
0.50
20 0.4 τstall ≈
200 5.7 kg⋅mm
0.25
10 0.2

0 0.0 0 0.00
0 1 2 3 4 5
torque (kg⋅mm)
21
100 2.0 700
1.8
90 1.8
600 no-load speed: 590 rpm

1.6
Istall ≈ 1.6 A
80 1.6
max power: 1.3 W
at 4.3 kg⋅mm,
f(τ) = 590 − 68τ f(τ) = 0.067 + 0.17τ 1.4
500 27% efficiency,
70 1.4
300 rpm, 0.81 A
1.2
60 1.2
400

efficiency (%)
speed (rpm)
50 1.0
current (A)
power (W)
at 1.5 kg⋅mm, 0.75 W,

490 rpm, 0.32 A
300
0.8
40 0.8
0.6
30 0.6
200
20 0.4 0.4
τstall ≈
8.6 kg⋅mm
100
10 0.2 0.2

0 0.0 0 0.0
0 1 2 3 4 5 6 7 8
torque (kg⋅mm)
22
100 2.0 450

90 1.8 1.6
400
Istall ≈ 1.6 A
80 1.6 max power: 1.4 W

f(τ) = 410 − 32τ f(τ) = 0.073 + 0.11τ 1.4
350 at 6.5 kg⋅mm,
28% efficiency,
210 rpm, 0.82 A
70 1.4
300 1.2
60 1.2
250 1.0
max efficiency: 40%
efficiency (%)
at 2.3 kg⋅mm, 0.80 W,

speed (rpm)
50 1.0
current (A)
power (W)
340 rpm, 0.34 A

200 0.8
40 0.8
150 0.6
30 0.6
100 0.4
20 0.4 τstall ≈
13 kg⋅mm
50 0.2
10 0.2
0 0.0 0 0.0
0 2 4 6 8 10 12
torque (kg⋅mm)
23
100 2.0 350
1.8
90 1.8
300
Istall ≈ 1.6 A 1.6
80 1.6
max power: 1.3 W
f(τ) = 300 − 18τ at 8.4 kg⋅mm, f(τ) = 0.067 + 0.091τ
1.4
250 26% efficiency,
70 1.4
150 rpm, 0.84 A
1.2
60 1.2
200
1.0
efficiency (%)
max efficiency: 37%

speed (rpm)
50 1.0
current (A)
power (W)
at 2.9 kg⋅mm, 0.73 W,

250 rpm, 0.33 A
150
0.8
40 0.8
0.6
30 0.6
100
20 0.4 0.4
τstall ≈
17 kg⋅mm
50
10 0.2 0.2

0 0.0 0 0.0
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
24
100 2.0 225 1.8

90 1.8
200 1.6
Istall ≈ 1.6 A
80 1.6
175 f(τ) = 200 − 8.5τ f(τ) = 0.060 + 0.063τ 1.4
max power: 1.2 W
at 12 kg⋅mm,
70 1.4
26% efficiency,
150 1.2
100 rpm, 0.81 A
60 1.2
125 1.0
efficiency (%)
max efficiency: 37%

speed (rpm)
50 1.0
current (A)
power (W)
at 3.9 kg⋅mm, 0.68 W,

100 170 rpm, 0.31 A 0.8
40 0.8
75 0.6
30 0.6
50 0.4
20 0.4 τstall ≈
24 kg⋅mm
25 0.2
10 0.2

0 0.0 0 0.0
0 5 10 15 20
torque (kg⋅mm)
25
100 1.8 160
1.8

90
1.6
140 1.6
Istall ≈ 1.6 A
80
1.4 f(τ) = 140 − 4.9τ f(τ) = 0.066 + 0.051τ
1.4
120
max power: 1.1 W
70 at 15 kg⋅mm,
1.2 22% efficiency,
1.2
72 rpm, 0.82 A
100
60
1.0
1.0
efficiency (%)
speed (rpm)
50 80
current (A)
power (W)
max efficiency: 32%

0.8 at 5.0 kg⋅mm, 0.62 W, 0.8
120 rpm, 0.32 A
40
60
0.6 0.6
30
40
0.4 0.4
20 τstall ≈
30 kg⋅mm
20
0.2 0.2
10

0 0.0 0 0.0
0 5 10 15 20 25
torque (kg⋅mm)
26
100 1.8 140
1.8
90
1.6 no-load speed: 120 rpm
1.6
120 Istall ≈ 1.6 A
80
1.4 f(τ) = 120 − 3.7τ f(τ) = 0.059 + 0.044τ 1.4
100 max power: 1.1 W

70 at 17 kg⋅mm,
1.2 22% efficiency, 1.2
62 rpm, 0.81 A
60
80
1.0 1.0
efficiency (%)
speed (rpm)
50
current (A)
power (W)
max efficiency: 32%

0.8 0.8
60 at 5.5 kg⋅mm, 0.59 W,
40 100 rpm, 0.30 A
0.6 0.6
30
40
0.4 0.4
20 τstall ≈
34 kg⋅mm
20
0.2 0.2
10
0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
27
100 1.6 120
1.8
90
1.4
100 Istall ≈ 1.6 A 1.6
80
max power: 1.1 W
1.2 f(τ) = 100 − 2.6τ at 20 kg⋅mm, f(τ) = 0.059 + 0.038τ
21% efficiency, 1.4
70 52 rpm, 0.83 A
80
1.0 1.2
60
1.0
efficiency (%)
speed (rpm)
50 0.8 60
current (A)
power (W)
max efficiency: 31%

at 6.5 kg⋅mm, 0.58 W,
87 rpm, 0.31 A
0.8
40
0.6
40
0.6
30
0.4
20 0.4
τstall ≈
20 40 kg⋅mm
0.2
10 0.2
0 0.0 0 0.0
0 5 10 15 20 25 30 35 40
torque (kg⋅mm)
28
100 1.4 35
1.8
90 no-load speed: 31 rpm

Istall ≈ 1.6 A 1.6
1.2 30
80
f(τ) = 31 − 0.26τ f(τ) = 0.063 + 0.013τ
1.4
1.0 25 theoretical max power

70
1.2
60
0.8 20
1.0
max efficiency: 28%
efficiency (%)
speed (rpm)
50
current (A)
power (W)
at 20 kg⋅mm, 0.53 W,
26 rpm, 0.32 A
0.6 15 0.8
40
0.6
30
0.4 10
0.4
20 τstall ≈
120 kg⋅mm
0.2 5
10 0.2
0 0.0 0 0.0
0 20 40 60 80 100
torque (kg⋅mm)
29
Pololu Items #3062, #3072 (30:1 Micro Metal Gearmotor HPCB 6V) Performance at 6 V
100 2.0 1200
1.8

90 1.8
1.6
1000 Istall ≈ 1.5 A

80 1.6
f(τ) = 1100 − 240τ f(τ) = 0.12 + 0.31τ 1.4

max power: 1.2 W
at 2.2 kg⋅mm,
70 1.4
25% efficiency,
800
540 rpm, 0.82 A 1.2
60 1.2

at 1.0 kg⋅mm, 0.85 W,
efficiency (%)
speed (rpm)
50 1.0 600 840 rpm, 0.43 A
current (A)
power (W)
0.8
40 0.8
400 0.6
30 0.6
0.4
20 0.4 τstall ≈
200 4.5 kg⋅mm
10 0.2 0.2
0 0.0 0 0.0
0 0.5 1 1.5 2 2.5 3 3.5 4
torque (kg⋅mm)
30
100 1.8 700
1.8

90
1.6
1.6
600
Istall ≈ 1.5 A
80
1.4 max power: 1.2 W 1.4
f(τ) = 620 − 85τ at 3.7 kg⋅mm, f(τ) = 0.11 + 0.19τ
500 24% efficiency,

70 310 rpm, 0.81 A
1.2 1.2
60
1.0 at 1.6 kg⋅mm, 0.80 W, 1.0
490 rpm, 0.42 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
0.8 0.8
300
40
0.6 0.6
30
200
0.4 0.4
20 τstall ≈
7.4 kg⋅mm
100
0.2 0.2
10
0 0.0 0 0.0
0 1 2 3 4 5 6 7
torque (kg⋅mm)
31
100 2.0 450

1.6
90 1.8
400 Istall ≈ 1.5 A
1.4
80 1.6 f(τ) = 430 − 38τ f(τ) = 0.12 + 0.12τ
350
max power: 1.3 W
at 5.7 kg⋅mm, 1.2
70 1.4
26% efficiency,
300 220 rpm, 0.81 A
60 1.2
1.0
at 2.5 kg⋅mm, 0.87 W,
330 rpm, 0.43 A
efficiency (%)
speed (rpm)
50 1.0
current (A)
power (W)
0.8
200
40 0.8
0.6
150
30 0.6
0.4
100
20 0.4 τstall ≈
11 kg⋅mm
50 0.2
10 0.2
0 0.0 0 0.0
0 2 4 6 8 10
torque (kg⋅mm)
32
100 2.0 350

1.8
90 1.8
300 Istall ≈ 1.7 A

1.6
80 1.6
f(τ) = 320 − 21τ f(τ) = 0.11 + 0.10τ
max power: 1.3 W
at 7.9 kg⋅mm,
1.4
250 25% efficiency,
70 1.4
160 rpm, 0.89 A
1.2
60 1.2
200
max efficiency: 33%
at 3.3 kg⋅mm, 0.86 W,
1.0
efficiency (%)
260 rpm, 0.44 A

speed (rpm)
50 1.0
current (A)
power (W)
150
0.8
40 0.8
0.6
30 0.6
100
20 0.4 0.4
τstall ≈
16 kg⋅mm
50
10 0.2 0.2
0 0.0 0 0.0
0 2 4 6 8 10 12 14
torque (kg⋅mm)
33
100 1.8 250
1.8
90 225
1.6
Istall ≈ 1.5 A
80 200
1.4
f(τ) = 220 − 11τ max power: 1.1 W f(τ) = 0.10 + 0.071τ 1.4
at 10 kg⋅mm,
70 175
23% efficiency,
1.2 110 rpm, 0.82 A
1.2
60 150
1.0
at 4.1 kg⋅mm, 0.73 W,
efficiency (%)
speed (rpm)
50 125
current (A)
power (W)
170 rpm, 0.39 A

0.8
0.8
40 100
0.6
0.6
30 75
0.4
0.4
20 50 τstall ≈
20 kg⋅mm
0.2 0.2
10 25
0 0.0 0 0.0
0 5 10 15 20
torque (kg⋅mm)
34
100 1.8 180
1.8
90
1.6 160 no-load speed: 160 rpm
1.6
Istall ≈ 1.5 A
80
1.4 140
f(τ) = 160 − 5.5τ f(τ) = 0.10 + 0.050τ
at 14 kg⋅mm,
70
23% efficiency,
1.2 120 78 rpm, 0.80 A
1.2
60
1.0 100
at 5.9 kg⋅mm, 0.74 W,
efficiency (%)
speed (rpm)
50
current (A)
power (W)
120 rpm, 0.40 A
0.8 80
0.8
40
0.6 60
0.6
30
0.4 40 0.4
20 τstall ≈
28 kg⋅mm
0.2 20 0.2
10
0 0.0 0 0.0
0 5 10 15 20 25
torque (kg⋅mm)
35
100 1.6 140
90 1.6
1.4 Istall ≈ 1.5 A
120
80 f(τ) = 130 − 4.1τ f(τ) = 0.11 + 0.045τ 1.4

max power: 1.1 W
at 16 kg⋅mm,
1.2
22% efficiency,
100 66 rpm, 0.82 A
70
1.2
1.0
60
80 max efficiency: 29% 1.0
at 6.6 kg⋅mm, 0.71 W,
100 rpm, 0.40 A
efficiency (%)
speed (rpm)
50 0.8
current (A)
power (W)
0.8
60
40
0.6
0.6
30
40
0.4
0.4
20 τstall ≈
32 kg⋅mm
20
0.2
0.2
10
0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
36
100 1.6 120

90 1.6
1.4
Istall ≈ 1.5 A
100
80
1.4
f(τ) = 110 − 3.2τ f(τ) = 0.11 + 0.041τ
1.2
max power: 1.0 W
70
at 17 kg⋅mm,
80 20% efficiency, 1.2
54 rpm, 0.81 A
1.0
60
1.0
max efficiency: 26%
at 7.4 kg⋅mm, 0.65 W,
efficiency (%)
speed (rpm)
50 0.8 60
current (A)
power (W)
85 rpm, 0.42 A
0.8
40
0.6
40 0.6
30
0.4
0.4
20 τstall ≈
20 34 kg⋅mm
0.2
0.2
10
0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
37
100 1.4 35

90 1.6
Istall ≈ 1.6 A
1.2 30
80 f(τ) = 33 − 0.30τ f(τ) = 0.10 + 0.013τ

1.4
1.0 25
70 theoretical max power
1.2
60
0.8 20
at 22 kg⋅mm, 0.59 W,
efficiency (%)
speed (rpm)
50 26 rpm, 0.39 A
current (A)
power (W)
0.8
0.6 15
40
0.6
30
0.4 10
0.4
20 τstall ≈
110 kg⋅mm
0.2 5
0.2
10
0 0.0 0 0.0
0 20 40 60 80 100
torque (kg⋅mm)
38
100 1.8 1200
90
1.6
1000 Istall ≈ 0.71 A

0.7
80
1.4
f(τ) = 1100 − 280τ f(τ) = 0.073 + 0.16τ
max power: 1.1 W
at 2.0 kg⋅mm, 0.6
70
24% efficiency,
1.2 800
560 rpm, 0.39 A
60
1.0 at 0.95 kg⋅mm, 0.82 W,
840 rpm, 0.23 A
efficiency (%)
speed (rpm)
50 600
current (A)
power (W)
0.4
0.8
40
0.3
0.6 400
30
0.2
0.4
20 τstall ≈
200 3.9 kg⋅mm
0.2 0.1
10
0 0.0 0 0.0
0 0.5 1 1.5 2 2.5 3 3.5
torque (kg⋅mm)
39
100 1.8 700
0.8
90
1.6
600 Istall ≈ 0.72 A
0.7
80
1.4 f(τ) = 650 − 97τ f(τ) = 0.065 + 0.10τ
max power: 1.1 W
500 at 3.4 kg⋅mm, 0.6
70
24% efficiency,
1.2
320 rpm, 0.39 A
60
0.5
1.0
at 1.5 kg⋅mm, 0.79 W,
500 rpm, 0.22 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
0.4
0.8
300
40
0.3
0.6
30
200
0.2
0.4
20 τstall ≈
6.7 kg⋅mm
100
0.2 0.1
10
0 0.0 0 0.0
0 1 2 3 4 5 6
torque (kg⋅mm)
40
100 1.8 500
0.8
1.6
Istall ≈ 0.72 A
80 400 0.7
1.4
f(τ) = 440 − 46τ f(τ) = 0.056 + 0.069τ
max power: 1.1 W
70 350 at 4.9 kg⋅mm,
24% efficiency, 0.6
1.2
220 rpm, 0.39 A
60 300
0.5
at 2.1 kg⋅mm, 0.76 W,
efficiency (%)
speed (rpm)
50 250 350 rpm, 0.20 A
current (A)
power (W)
0.4
0.8
40 200
0.6 0.3
30 150
0.4 0.2
20 100 τstall ≈
10 kg⋅mm
0.2 0.1
10 50
0 0.0 0 0.0
0 1 2 3 4 5 6 7 8 9
torque (kg⋅mm)
41
100 1.8 350
0.8
90
1.6 Istall ≈ 0.72 A
300 0.7
80 f(τ) = 340 − 26τ f(τ) = 0.060 + 0.051τ

1.4

250 at 6.4 kg⋅mm,
70
24% efficiency,
1.2
170 rpm, 0.39 A
0.5
60
200
at 2.9 kg⋅mm, 0.78 W,
efficiency (%)
260 rpm, 0.21 A

speed (rpm)
50 0.4
current (A)
power (W)
0.8
150
40
0.3
0.6
30
100
0.2
0.4
20 τstall ≈
13 kg⋅mm
50
0.1
0.2
10
0 0.0 0 0.0
0 2 4 6 8 10 12
torque (kg⋅mm)
42
100 1.6 250
90 225 0.8
Istall ≈ 0.72 A
80 200 0.7

f(τ) = 220 − 12τ f(τ) = 0.066 + 0.036τ
at 9.0 kg⋅mm,
110 rpm, 0.39 A 0.6
1.0
60 150
max efficiency: 28%
at 4.2 kg⋅mm, 0.73 W, 0.5
170 rpm, 0.22 A
efficiency (%)
speed (rpm)
50 0.8 125
current (A)
power (W)
0.4
40 100
0.6
0.3
30 75
0.4
0.2
20 50 τstall ≈
18 kg⋅mm
0.2
0.1
10 25
0 0.0 0 0.0
0 2 4 6 8 10 12 14 16
torque (kg⋅mm)
43
100 1.6 180
90 0.8
160
Istall ≈ 0.72 A
80
0.7
140
f(τ) = 160 − 6.3τ f(τ) = 0.060 + 0.026τ
at 13 kg⋅mm,
70 22% efficiency,
80 rpm, 0.39 A 0.6
120
1.0
60
max efficiency: 28%
100 0.5
at 5.6 kg⋅mm, 0.71 W,
120 rpm, 0.21 A
efficiency (%)
speed (rpm)
50 0.8
current (A)
power (W)
80 0.4
40
0.6
60 0.3
30
0.4
40 0.2
20 τstall ≈
25 kg⋅mm
0.2
20 0.1
10
0 0.0 0 0.0
0 5 10 15 20 25
torque (kg⋅mm)
44
100 1.6 140
90 Istall ≈ 0.75 A
1.4
120
0.7
f(τ) = 130 − 4.4τ f(τ) = 0.058 + 0.023τ
80
max power: 1.1 W
1.2 at 15 kg⋅mm,
100 22% efficiency, 0.6
70 67 rpm, 0.40 A
1.0
60 0.5
at 6.6 kg⋅mm, 0.72 W,
110 rpm, 0.21 A
efficiency (%)
speed (rpm)
50 0.8
current (A)
power (W)
0.4
60
40
0.6
0.3
30
40
0.4
0.2
20 τstall ≈
30 kg⋅mm
20
0.2 0.1
10
0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
45
100 1.4 120

90
1.2 Istall ≈ 0.74 A

100
0.7
80 max power: 0.95 W
f(τ) = 110 − 3.4τ f(τ) = 0.060 + 0.021τ
at 17 kg⋅mm,
20% efficiency,
1.0 56 rpm, 0.40 A
70 0.6
80

0.8 0.5
at 7.3 kg⋅mm, 0.65 W,
87 rpm, 0.21 A
efficiency (%)
speed (rpm)
50 60
current (A)
power (W)
0.4
0.6
40
0.3
40
30
0.4
0.2
20 τstall ≈
20 33 kg⋅mm
0.2
0.1
10
0 0.0 0 0.0
0 5 10 15 20 25 30
torque (kg⋅mm)
46
100 1.4 40
0.9
90
35
1.2 no-load speed: 35 rpm 0.8
Istall ≈ 0.75 A
80
30 0.7
f(τ) = 35 − 0.34τ f(τ) = 0.051 + 0.0069τ
1.0
70
theoretical max power
0.6
25
60
0.8
max efficiency: 25%
0.5
at 21 kg⋅mm, 0.59 W,
efficiency (%)
speed (rpm)
50 20 27 rpm, 0.19 A
current (A)
power (W)
0.6 0.4
40
15
0.3
30
0.4
10
0.2
20 τstall ≈
100 kg⋅mm
0.2
5
10 0.1
0 0.0 0 0.0
0 20 40 60 80 100
torque (kg⋅mm)
47

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Micro Metal Gearmotors

 LP 6V: Low-power 6 V with precious metal brushes

Dimensions of versions with carbon brushes (HPCB)

Dimensions of versions with precious metal brushes (HP, MP, LP)

1100, 2200 4.995 2500 1.5

2361, 2215 75.81 410 340 2.3 0.34 0.80 1.4 13 23

3061, 3071 9.96 3000 3.6

3064, 3074 75.81 430 330 2.5 0.43 0.87 1.3 11 32

3037, 3048 9.96 3000 2.4

3040, 3051 75.81 450 350 2.1 0.20 0.76 1.1 10 41

90 0.45 450 no-load speed: 450 rpm

no-load current: 0.019 A

no-load current: 0.019 A

90 180 no-load speed: 180 rpm

0.25 max efficiency: 33% 0.25

50 100 140 rpm, 0.10 A

no-load current: 0.017 A

no-load speed: 130 rpm 0.40

100 rpm, 0.10 A

no-load current: 0.020 A

90 90 no-load speed: 90 rpm

max power: 0.25 W 0.35

no-load current: 0.018 A

no-load speed: 65 rpm

no-load current: 0.018 A

no-load current: 0.018 A

90 45 no-load speed: 45 rpm

max power: 0.22 W 0.30

no-load current: 0.018 A

no-load speed: 13 rpm

90 no-load speed: 720 rpm 0.8

no-load current: 0.033 A

no-load speed: 420 rpm

f(τ) = 390 − 72τ max power: 0.55 W f(τ) = 0.053 + 0.11τ

0.5 250 max efficiency: 33%

310 rpm, 0.19 A

no-load current: 0.033 A

no-load speed: 290 rpm

220 rpm, 0.17 A

no-load current: 0.032 A

no-load speed: 220 rpm

170 rpm, 0.17 A

no-load current: 0.033 A

80 max power: 0.48 W 0.6

no-load current: 0.037 A

no-load current: 0.040 A

50 0.4 at 4.5 kg⋅mm, 0.31 W,

no-load current: 0.041 A

no-load speed: 73 rpm

no-load current: 0.034 A

no-load current: 0.032 A

50 1.0 600 1.00

no-load current: 0.068 A

600 no-load speed: 590 rpm

max efficiency: 38% 1.0

at 1.5 kg⋅mm, 0.75 W,

no-load current: 0.067 A

no-load speed: 410 rpm

80 1.6 max power: 1.4 W

at 2.3 kg⋅mm, 0.80 W,

340 rpm, 0.34 A

no-load current: 0.066 A

max efficiency: 37%