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: 3 to 9VDC (we have run these motors at up to 12VDC but do so at your own risk)
• Motor stall current @6VDC = 460mA
• Recommended voltage for encoder circuitry: 3 to 5VDC
• Gear ratio: approx 430 turns of the input shaft turns the tire 1 time
• The encoders are connected to the input shaft
• Revolutions per minute: @6VDC no load = 460RPM
• Size: height = 10mm, width = 12mm, length of body including encoder and gearbox = 30mm, extending shaft length = 10mm

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