37D Metal Gearmotors: Performance Summary and Table of Contents

37D Metal Gearmotors
Pololu 37D Metal Gearmotors are powerful brushed DC motors paired with 37mm-diameter gearboxes, and they are
available with or without an integrated 64 CPR quadrature encoder on the motor shaft. The motors are intended for
operation at 12 V, though in general, this kind of motor can run at voltages above and below the nominal voltage, and
they can begin rotating at voltages as low as 1 V. Please note that higher voltages could start negatively affecting the
lifetime of the motor. We characterized each version at 12 V and also at 6 V, and this datasheet includes
performance graphs at both of these voltages.
The gearmotors are available in a variety of different gear ratios,

offering many different combinations of speed and torque. The
original versions of these gearmotors, denoted by “Spur Pinion” in the
product names, had gearboxes with all spur gears. In August 2019,
these were replaced by functionally identical “Helical Pinion” versions
that feature helical gears for the first stage of the gearbox, which
reduces noise and vibration and improves efficiency. The picture on
the right shows the helical pinion gear and first mating gear.
Performance summary and table of contents

Stall
Gear No Load At Maximum Efficiency Max Graph
Extrapolation
Rated Pololu Ratio Power Page
Voltage Item # Speed Current Speed Torque Current Output Torque Current
:1 RPM A RPM kg⋅mm A W W kg⋅mm A 6V 12 V
2821, 4750 1 10,000 5

1102, 2822
4741,4751
18.75 540 470 10 0.76 5.0 12 85 5 6
1103, 2823
4742, 4752 30 330 280 18 0.78 5.1 12 140 7 8
1104, 2824
4743, 4753 50 200 180 22 0.66 4.0 10 210 9 10
12 V 0.15 5.5
1105, 2825
4744, 4754
70 150 130 32 0.68 4.2 10 270 11 12
1106, 2826
4745, 4755
102.08 100 87 42 0.72 3.8 8 340 13 14
1107, 2827
4746, 4756
131.25 76 66 60 0.74 4.1 6 450 15 16
2828, 2829 150 67 58 65 0.72 3.8 6 490 17 18
Notes:
1) Max efficiency data and performance graphs currently unavailable for the motor without gearbox (items #2821 and #4750).
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 continuously applied loads is 100 kg⋅mm, and the recommended upper limit for instantaneous torque is 250 kg⋅mm. Stalls can also
result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes; a general recommendation for
brushed DC motor operation is 25% or less of the stall current.
September 2019 – Rev 1.1 © Pololu Corporation | www.pololu.com | 920 Pilot Rd., Las Vegas, NV 89119, USA
1
Dimensions (units: mm over [inches])
Gearmotor versions without encoders (items #1102-1107, 2829, 4741-4746) weight: 185 g to 195 g
epth o ountin hole i in
Gearmotor versions with encoders (items #2822-2828, 4751-4756) weight: 200 g to 210 g
ea are appro i atel in lon an are ter inate

a e ale hea er ith a in pitch
2
Motor with encoder and no gearbox (items #2821, 4750) weight: 110 g
ea are appro i atel in lon an are ter inate

a e ale hea er ith a in pitch
Using the encoder
Versions with encoders have additional electronics mounted on the rear of the motor. Two Hall-effect sensors are
used to sense the rotation of a magnetic disc on a rear protrusion of the motor shaft. The encoder electronics and
magnetic disc are enclosed by a removable plastic end cap. The following pictures show what the encoder portion
looks like with the end cap removed:
The quadrature encoder provides a resolution of 64 counts per revolution (CPR) of the motor shaft when counting
both edges of both channels. To compute the counts per revolution of the gearbox output, multiply the gear ratio by
64.
The motor/encoder has six color-coded, 20 cm ( ″) lea ter inate a e ale connector with a 2.54 mm ( ″)
pitch. This connector ork ith tan ar ″ ale breakaway headers and our male premium jumper and
precrimped wires. If this header is not convenient, the crimped wires can be pulled out of the 1×6 housing and used
with different crimp connector housings instead (e.g. 1×2 for the motor power and 1×1 housings for the other four
leads), or the connectors can be cut off entirely.
3
Lead Color Function
Red Motor power
Black Motor power
Green Encoder ground
Blue Encoder Vcc (3.5 V to 20 V)
Yellow Encoder A output
White Encoder B output
The Hall sensors require an input voltage, Vcc, between 3.5 V and 20 V and draw a maximum of 10 mA. The A and B
outputs are square waves from 0 V to Vcc approximately 90° out of phase. The speed of the motor can be
determined from the frequency of the, and the direction of rotation can be determined from the order of the
transitions. The following oscilloscope capture shows the A and B (yellow and white) encoder outputs using a motor
voltage of 12 V and a Hall sensor Vcc of 5 V:
By counting both the rising and falling edges of both the A and B outputs, it is possible to get 64 counts per revolution
of the motor shaft. Using just a single edge of one channel results in 16 counts per revolution of the motor shaft, so
the frequency of the A output in the above oscilloscope capture is 16 times the motor rotation frequency.
4
Pololu Items #1102, #2822, #4741, #4751 (19:1 Metal Gearmotor 37D) Performance at 6 V
100 5.5 300
3.5
5.0 275
90 no-load speed: 270 rpm
Istall ≈ 3.2 A
250
4.5 3.0
80
f(τ) = 270 − 5.4τ f(τ) = 0.089 + 0.062τ
225 max power: 3.5 W
4.0
at 25 kg⋅mm,
70
35% efficiency, 2.5
200 max efficiency: 53% 130 rpm, 1.6 A
3.5 at 7.2 kg⋅mm, 1.7 W,
60 230 rpm, 0.53 A
175
3.0 2.0
efficiency (%)
speed (rpm)
50 150
current (A)
power (W)
2.5
125 1.5
40
2.0
100
30
1.5 1.0
75
20 τstall ≈
1.0
50 50 kg⋅mm
0.5
10 0.5 25
no-load current: 0.091 A

0 0.0 0 0.0
0 10 20 30 40 50
torque (kg⋅mm)
5
100 18 600
6
550
16
Istall ≈ 5.4 A
500
80 5
14 f(τ) = 530 − 6.3τ f(τ) = 0.11 + 0.062τ
450 max power: 12 W
at 42 kg⋅mm,
70 35% efficiency,
max efficiency: 55% 270 rpm, 2.8 A
12 400
at 10 kg⋅mm, 5.0 W, 4
470 rpm, 0.76 A
60
350
10
efficiency (%)
speed (rpm)
50 300
current (A)
power (W)
8
250
40
6 200
2
30
150
4
20 τstall ≈
100 85 kg⋅mm 1
2
10
50

0 0 0 0
0 10 20 30 40 50 60 70 80
torque (kg⋅mm)
6
100 5.0 180
no-load speed: 170 rpm

90 4.5 Istall ≈ 3.0 A 3.0
160
f(τ) = 170 − 2.1τ f(τ) = 0.093 + 0.037τ

80 4.0 max power: 3.4 W
140
at 39 kg⋅mm,
2.5
36% efficiency,
70 3.5 83 rpm, 1.5 A
120 max efficiency: 54%

at 12 kg⋅mm, 1.7 W,
140 rpm, 0.53 A
60 3.0 2.0
100
efficiency (%)
speed (rpm)
50 2.5
current (A)
power (W)
80 1.5
40 2.0
60
30 1.5 1.0
40
20 1.0 τstall ≈
79 kg⋅mm
0.5
20
10 0.5

0 0.0 0 0.0
0 10 20 30 40 50 60 70
torque (kg⋅mm)
7
100 18 350
6
90 Istall ≈ 5.6 A
16
300
80 f(τ) = 320 − 2.2τ f(τ) = 0.11 + 0.038τ 5

14 max power: 12 W
at 72 kg⋅mm,
250 35% efficiency,
70
160 rpm, 2.8 A
at 18 kg⋅mm, 5.1 W, 4
280 rpm, 0.78 A
60
200
10
efficiency (%)
speed (rpm)
50
current (A)
power (W)
8
150
40
6
2
30
100
4
20 τstall ≈
140 kg⋅mm 1
50
2
10

0 0 0 0
0 20 40 60 80 100 120 140
torque (kg⋅mm)
8
100 5.0 120
3.5
90 4.5
100 no-load speed: 100 rpm 3.0

Istall ≈ 2.9 A
80 4.0
f(τ) = 100 − 0.85τ max power: 3.1 W f(τ) = 0.079 + 0.024τ
70 3.5 at 59 kg⋅mm, 2.5

34% efficiency,
80
max efficiency: 52% 50 rpm, 1.5 A
at 17 kg⋅mm, 1.5 W,
60 3.0
87 rpm, 0.48 A
2.0
efficiency (%)
speed (rpm)
50 2.5 60
current (A)
power (W)
1.5
40 2.0
40
30 1.5
1.0
20 1.0 τstall ≈
20 120 kg⋅mm
0.5
10 0.5

0 0.0 0 0.0
0 20 40 60 80 100
torque (kg⋅mm)
9
100 16 225
90
14
Istall ≈ 5.4 A
80 5
175 f(τ) = 200 − 1.0τ f(τ) = 0.080 + 0.026τ
max power: 10 W
12
at 100 kg⋅mm,
32% efficiency,
70
98 rpm, 2.7 A
150
max efficiency: 51% 4
10
at 22 kg⋅mm, 4.0 W,
60
180 rpm, 0.66 A
125
efficiency (%)
speed (rpm)
50 8
current (A)
power (W)
3
100
40
6
75
2
30
4
50
20 τstall ≈
210 kg⋅mm 1
2
25
10

0 0 0 0
0 50 100 150 200
torque (kg⋅mm)
10
100 4.5 80

90
4.0 Istall ≈ 3.0 A 3.0
70
80 f(τ) = 73 − 0.46τ f(τ) = 0.072 + 0.019τ

3.5 max power: 2.9 W
60 at 79 kg⋅mm, 2.5
32% efficiency,
70
36 rpm, 1.5 A
3.0

60 at 21 kg⋅mm, 1.4 W, 2.0
2.5 63 rpm, 0.47 A
efficiency (%)
speed (rpm)
50 40
current (A)
power (W)
2.0 1.5
40
30
1.5
30 1.0
20
1.0
20 τstall ≈
160 kg⋅mm
0.5
10
0.5
10

0 0.0 0 0.0
0 20 40 60 80 100 120 140
torque (kg⋅mm)
11
100 16 160
5.5

90 Istall ≈ 5.2 A
14 140 5.0
80 f(τ) = 150 − 0.53τ f(τ) = 0.088 + 0.018τ

4.5
12 120 max power: 10 W
at 140 kg⋅mm,
70 33% efficiency, 4.0
73 rpm, 2.6 A
max efficiency: 52%
10 100 at 32 kg⋅mm, 4.2 W,
60 3.5
130 rpm, 0.68 A
3.0
efficiency (%)
speed (rpm)
50 8 80
current (A)
power (W)
2.5
40
6 60
2.0
30
1.5
4 40
20 τstall ≈
270 kg⋅mm 1.0
2 20
10
0.5

0 0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
12
100 4.0 55
3.5
90 50
3.5 Istall ≈ 3.2 A
45 3.0
80 f(τ) = 50 − 0.24τ f(τ) = 0.082 + 0.015τ
max power: 2.6 W
3.0 at 100 kg⋅mm,
40 27% efficiency,
70 25 rpm, 1.6 A 2.5
35
2.5
60
30 2.0
max efficiency: 41%
at 29 kg⋅mm, 1.3 W,
efficiency (%)
speed (rpm)
50 2.0
current (A)
power (W)
43 rpm, 0.51 A
25
1.5
40
1.5
20
30
15 1.0
1.0
20 τstall ≈
10
210 kg⋅mm
0.5
0.5
10 5

0 0.0 0 0.0
0 50 100 150 200
torque (kg⋅mm)
13
100 14 120
90
12
Istall ≈ 5.1 A
80 5
f(τ) = 100 − 0.29τ max power: 8.7 W f(τ) = 0.10 + 0.015τ

10 at 170 kg⋅mm,
70
28% efficiency,
80
50 rpm, 2.6 A
4
60
at 42 kg⋅mm, 3.8 W,
87 rpm, 0.72 A
efficiency (%)
speed (rpm)
50 60
current (A)
power (W)
6
40
40
2
30
4
20 τstall ≈
20 340 kg⋅mm 1
2
10

0 0 0 0
0 50 100 150 200 250 300
torque (kg⋅mm)
14
100 4.0 40

Istall ≈ 3.1 A
90 3.0
3.5 35
f(τ) = 38 − 0.14τ f(τ) = 0.085 + 0.011τ

80 max power: 2.7 W
at 140 kg⋅mm,
3.0 30 29% efficiency, 2.5
19 rpm, 1.6 A
70
2.5 25
60 2.0
max efficiency: 43%

at 40 kg⋅mm, 1.3 W,
efficiency (%)
33 rpm, 0.51 A
speed (rpm)
50 2.0 20
current (A)
power (W)
1.5
40
1.5 15
30 1.0
1.0 10
20 τstall ≈
280 kg⋅mm
0.5
0.5 5
10

0 0.0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
15
100 14 80
5.0
Istall ≈ 4.8 A
90
70 4.5
12
f(τ) = 76 − 0.17τ f(τ) = 0.12 + 0.011τ
80
4.0
60
max power: 8.7 W
10 at 220 kg⋅mm,
70
30% efficiency, 3.5
38 rpm, 2.5 A
50
60
max efficiency: 45% 3.0
8
at 60 kg⋅mm, 4.1 W,
66 rpm, 0.74 A
efficiency (%)
speed (rpm)
50 40
current (A)
power (W)
2.5
6
40
2.0
30
30
4 1.5
20
20 τstall ≈ 1.0
450 kg⋅mm
2
10
10 0.5

0 0 0 0.0
0 50 100 150 200 250 300 350 400
torque (kg⋅mm)
16
Pololu Items #2829, #2828, #150:1 Metal Gearmotor 37D , # () Performance at 6 V
100 4.0 35

Istall ≈ 3.0 A 3.0
90
3.5
30
f(τ) = 33 − 0.11τ f(τ) = 0.086 + 0.010τ
80
2.5
3.0 max power: 2.5 W
25 at 150 kg⋅mm,
70 27% efficiency,
17 rpm, 1.5 A
2.5
2.0
60
20
max efficiency: 41%
at 43 kg⋅mm, 1.3 W,
efficiency (%)
speed (rpm)
50 2.0
current (A)
power (W)
28 rpm, 0.51 A
1.5
15
40
1.5
30 1.0
10
1.0
20 τstall ≈
300 kg⋅mm
0.5
5
0.5
10

0 0.0 0 0.0
0 50 100 150 200 250
torque (kg⋅mm)
17
Pololu Items #2829, #2828, #150:1 Metal Gearmotor 37D , # () Performance at 12 V
100 14 70
5.0
Istall ≈ 4.8 A
90
4.5
12 60
f(τ) = 67 − 0.13τ f(τ) = 0.11 + 0.0095τ
80
4.0
10 50 max power: 8.4 W

70
at 250 kg⋅mm,
3.5
29% efficiency,
33 rpm, 2.4 A
60
3.0
8 40 max efficiency: 44%
at 65 kg⋅mm, 3.8 W,
58 rpm, 0.72 A
efficiency (%)
speed (rpm)
50
current (A)
power (W)
2.5
6 30
40
2.0
30 1.5
4 20
20 τstall ≈ 1.0
490 kg⋅mm
2 10
10 0.5

0 0 0 0.0
0 50 100 150 200 250 300 350 400 450
torque (kg⋅mm)
18

37D Metal Gearmotors: Performance Summary and Table of Contents

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37D Metal Gearmotors: Performance Summary and Table of Contents

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37D Metal Gearmotors

The gearmotors are available in a variety of different gear ratios,

Performance summary and table of contents

2821, 4750 1 10,000 5

2828, 2829 150 67 58 65 0.72 3.8 6 490 17 18

epth o ountin hole i in

epth o ountin hole i in

ea are appro i atel in lon an are ter inate

epth o ountin hole i in

ea are appro i atel in lon an are ter inate

Using the encoder

Lead Color Function

Red Motor power

Black Motor power

Green Encoder ground

Blue Encoder Vcc (3.5 V to 20 V)

Yellow Encoder A output

White Encoder B output

no-load current: 0.091 A

no-load current: 0.12 A

no-load speed: 170 rpm

f(τ) = 170 − 2.1τ f(τ) = 0.093 + 0.037τ

120 max efficiency: 54%

no-load current: 0.091 A

80 f(τ) = 320 − 2.2τ f(τ) = 0.11 + 0.038τ 5

no-load current: 0.15 A

100 no-load speed: 100 rpm 3.0

f(τ) = 100 − 0.85τ max power: 3.1 W f(τ) = 0.079 + 0.024τ

70 3.5 at 59 kg⋅mm, 2.5

no-load current: 0.088 A

no-load current: 0.12 A

no-load speed: 73 rpm

80 f(τ) = 73 − 0.46τ f(τ) = 0.072 + 0.019τ

50 max efficiency: 49%

no-load current: 0.082 A

no-load speed: 150 rpm

80 f(τ) = 150 − 0.53τ f(τ) = 0.088 + 0.018τ

no-load current: 0.11 A

no-load current: 0.087 A

f(τ) = 100 − 0.29τ max power: 8.7 W f(τ) = 0.10 + 0.015τ

no-load current: 0.12 A

no-load speed: 38 rpm

f(τ) = 38 − 0.14τ f(τ) = 0.085 + 0.011τ

max efficiency: 43%

no-load current: 0.095 A

no-load current: 0.13 A

no-load speed: 33 rpm

no-load current: 0.10 A

10 50 max power: 8.4 W

no-load current: 0.12 A

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