This custom made N20 size metal gear motor comes with a built-in quadrature encoder and a 42mm diameter silicon rubber tire.

Quadrature encoders are used in advanced robotics for speed control, precise turns and movements, distance calculations and dead reckoning.

In order to function well with lower voltages we reduced the impedance to 13 ohms. Here is a mounting bracket for this type of motor.

Specifications

• Recommended voltage range for motors: 6v
• Recommended voltage for encoder circuitry: 3 to 5VDC
• Gear ratio 1:30
• The encoders are connected to the input shaft
• Revolutions per minute: @6VDC no load = 500 rpm
• Revolutions per minute: @6VDC with load = 375 rpm
• Toque kg*cm = 0.35
• Stall torque kg*cm= 0.4
• Motor stall current @6VDC = 550mA

Pinout

M1 -- Motor contact 1 (connect your motor driver here)

GND -- GND for encoder circuitry

C1 -- output of first encoder

C2 -- output of second encoder

Vcc -- 3 to 5VDC for encoder circuitry

M2 -- Motor contact 2 (connect your motor driver here)

Tutorial:  Motor Encoders with Arduino