A 12V DC gear motor with a built-in two-channel hall effect encoder, designed for mobile robot platforms. The planetary gearbox (26.8:1 ratio) delivers high torque at low noise, with a no-load speed of 168 RPM and rated torque of 17 kg·cm — suitable for mid-size wheeled robots and motorised platforms.

The 6-pin JST connector provides motor power and encoder signals in a single cable. The hall effect encoder outputs 348.3 PPR (at the gearbox shaft), enabling precise speed and position feedback for closed-loop motor control.

Key Features

• Planetary Gearbox – 26.8:1 ratio for high torque with low noise
• Hall Effect Encoder – Two-channel, 348.3 PPR at the output shaft
• High Torque – 17 kg·cm rated torque
• 10 mm Output Shaft – Robust shaft for direct wheel mounting
• Single Connector – JST PHR-6 carries motor power and encoder signals

Specifications

• Rated Voltage – 12V DC
• Rated Current – 3.6A
• No-Load Current – 400mA
• Rated Torque – 17 kg·cm
• Rated Speed – 123 RPM
• No-Load Speed – 168 RPM
• Gear Ratio – 26.8:1 (planetary)
• Encoder Type – Two-channel hall effect
• Encoder Resolution – 348.3 PPR (gearbox shaft)
• Shaft Diameter – 10 mm
• Dimensions – 172 × 45 × 45 mm
• Weight – 930 g

Connector Pinout (JST PHR-6)

• Pin 1 (M−) – Motor negative
• Pin 2 (M+) – Motor positive
• Pin 3 (VCC) – Hall sensor power (4.5–24V)
• Pin 4 (GND) – Hall sensor ground
• Pin 5 (Ch.A) – Hall sensor A output (pull-up resistor required)
• Pin 6 (Ch.B) – Hall sensor B output (pull-up resistor required)

Ideal For

• Mid-size mobile robot platforms
• Home robot bases and autonomous vehicles
• Closed-loop speed and position control applications

Package Contents

• 1× 12V 168P Gear Motor with Encoder (DFRobot FIT0397)

Resources

• Motor Datasheet (PDF)
• Encoder Datasheet (PDF)