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:
Physical Specs:
- Overall Length: 133.5mm (5.26 in)
- Maximum Diameter: 37mm (1.46 in)
- Output Shaft size: 6mm (0.24 in) with 0.5mm deep flat
- Weight: 0.75 pound
- Mounting Holes: M3 tapped holes, qty. 6, on a 31mm bolt circle (3.5mm depth MAX, beyond this can damage plate and stop motor)
- Electrical Connection Geometry: 6-pin connector for motor power and encoder contact
- Gear Material: Steel
- Body Material: Steel with plastic encoder housing
- Lubrication: Included with gearbox
- Shaft Hardness: 45-50 Rockwell C (https://en.wikipedia.org/wiki/Rockwell_scale)
- Wire Gauge: 18 AWG
Performance Specs:
- Gearbox Reduction: 40:1
- Voltage: 12 volt DC
- No Load Free Speed, at gearbox output shaft: 160 rpm
- No Load Free Speed, motor only: 6,600 rpm
- Gearbox Output Power: 14W
- Stall Torque: 350 oz-in
- Stall Current: 11.5 amps
- Force Needed to Break Gearbox: 1478 oz-in
- Minimum torque needed to back drive: 12.8 oz-in
- Output counts per revolution of Output Shaft (cpr): 1120 (280 rises of Channel A)
- Output pulse per revolution of encoder shaft (ppr): 28 (7 rises of Channel A)
Performance Specs, mounted to AndyMark dyno:
- Max Speed (under load of dyno): 129 rpm
- No Load Current (under load of dyno): 0.4 amps
- Stall Current: 11.5 amps
- Stall Torque: 396 oz-in
- Max Output Power: 15 Watts
- Time to Failure at Stall: 2 minutes, 54 seconds
- Motor Case Temperature at Failure: 190 degrees F