Characteristics

Motor
Type	Maxon RE-max (268348)
Nominal voltage	U_n	6 V
Idle speed	n₀	686.9 s^-1 (6560 min^-1)
Idle current	I₀	0,00743 A
No-load speed	n_n	109.9 s^-1 (1050 min^-1)
Nominal torque	M_n	1.26 mNm
No-load current	I_n	0,156 A
Stall torque	M_h	1.54 mNm
Terminal resistance	R	32.7 Ω
Rotor inductance	L	0.606 mH
Torque constant	k_M	8.38 mNm/A
Speed constant	k_n	1140 min^-1/V
Rotor inertia	J_R	0.298 gcm²
Planetary gearbox
Type	Maxon GP 13 A (110314)
Gearbox ratio (exact)	i	3249/196
Max. continous torque	M_n	200 mNm
Short-term permissible torque	M_p	300 mNm
Encoder
Type	Maxon MR S (241057)
Pulses per revolution		64
Number of channels		2
Supply voltage	U_enc	4.7 bis 5.2 V
Moment of inertia of the encoder solenoid	J	0.005 gcm²

Connections

VCC	Supply 5 VDC
GND	Ground
Enc A	Encoder signal input, channel A
Enc B	Encoder signal input, channel B
PWM A	PWM input A
PWM B	PWM input B
Mode	Operating mode, Sign-Magnitude (Low) or Locked-Antiphase (High)