Characteristics

Motor
Type	Faulhaber 1331C012SR
Nominal voltage	U_n	12 V
Idle speed	n₀	9900 s^-1
Idle current	I₀	0,0105 A
No-load speed	n_n	4900 s^-1
Nominal torque	M_n	3.8 mNm
No-load current	I_n	0,37 A
Stall torque	M_h	9.9 mNm
Terminal resistance	R	13.7 Ω
Rotor inductance	L	310 µH
Torque constant	k_M	11.4 mNm/A
Speed constant	k_n	835 min^-1/V
Rotor inertia	J_R	0.67 gcm²
Planetary gearbox
Type	Faulhaber 13A (428 16:1)
Gearbox ratio (exact)	i	16/1
Max. continous torque	M_n	100 mNm
Short-term permissible torque	M_p	150 mNm
Encoder
Type	Faulhaber IE2-100
Pulses per revolution		100
Number of channels		2
Supply voltage	U_enc	4.5 bis 5.5 V
Moment of inertia of the encoder solenoid	J	0.05 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) oder Locked-Antiphase (High)