The NeveRest 40 is a gearmotor with an attached encoder. The output shaft geometry and the gearbox housing diameter is similar to what FTC teams are familiar with. The shaft is a 6 mm D and the gearbox housing is 37 mm diameter.
FIRST Legality:
- According to the FIRST Tech Challenge Game Manual Part 1, Rule RE10, this is legal for the 2020-2021 FTC Game.
- According to the FIRST Robotics Challenge Game Manual, Rule R27, this is legal for the 2020-2021 FRC Game as it uses the NeveRest am-3104 motor.
Encoder:
There is an encoder mounted to the backside of this motor. It is a 7 pulse per revolution (ppr), hall effect encoder. Since the motor's gearbox has a 40:1 reduction, then the NeverRest 40 output shaft provides 280 ppr.
Encoder Cable Options:
NeveRest motors do not come with an encoder cable as we offer 3 cable options:
am-3926a allows you to connect the encoder directly to the FIRST Tech Challenge REV Controller.
am-2992 has the 4 encoder pins joined in one housing using standard 0.1" spacing.
am-2993 allows you to break out the 4 pins separately if you need them in a different order.
Working with the Encoders:
Performance Specs:
Force Needed to Break Gearbox: 1478 oz-in
Time to Failure at Stall: 2 minutes, 54 seconds
Motor Case Temperature at Failure: 190 degrees F
Specifications
- Back Drive Force: 12.800 in-oz
- Connector Type: JST-VH-2, Anderson Powerpoles
- Free Current: 0.5 AMPs
- Gauge: 18 AWG
- Gear Material: Steel
- Material: Steel with Plastic Encoder Housing
- Maximum Diameter: 1.500 in. (38 mm)
- Maximum Power: 14 Watts
- Mounting Geometry: 6 M3x0.5 in. on a 1.220 in. (31 mm) Bolt Circle
- No Load Current: 0.4 AMPs
- No Load RPM: 160 RPM
- Output Shaft Size: 0.240 in. (6 mm) D Shaft
- Overall Length: 5.250 in.
- Poles Per Magnet: 7
- Ratio: 40:1
- Shaft Hardness: 45-50 Rockwell C
- Stall Current: 11.5 AMPS
- Stall Torque: 350 oz-in
- Ticks Per Revolution: 1120
- Voltage: 12 Volts DC
- Weight: 0.767 lbs
