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• Pololu 150:1 Micro Metal Gearmotor HPCB 6V w/ 12 CPR Encoder, Back Connector
• Equips with metal gearbox for durability
• Integrates 12 CPR encoder for precise control
• Operates with 6 V voltage, versatile range
• Delivers 220 RPM no-load performance
• Features 150.58:1 gear ratio for torque

The Pololu 150:1 Micro Metal Gearmotor HPCB 6V w/ 12 CPR Encoder, Back Connector is a compact brushed DC motor equipped with a metal gearbox. It features a 10×12 mm gearbox cross-section and a 9 mm long, 3 mm diameter D-shaped output shaft. This gearmotor is integrated with a two-channel incremental Hall effect encoder, which detects the rotation of a magnetic disk on the motor shaft's rear protrusion. The encoder provides a resolution of 12 counts per revolution (CPR) of the motor shaft, which can be adjusted by the gearbox reduction factor to determine the gearbox output's counts per revolution.

The encoder is equipped with a 6-pin JST SH-style male connector, compatible with corresponding cables and connector boards. The Back Connector orientation aligns parallel to the motor. The motor terminals are accessible via red and black wires when used with appropriate JST cables, with M1 consistently connecting to the motor terminal marked with a “+”. This mark is covered in encoder versions but visible in non-encoder versions. The motor is designed to operate in both directions by alternating the power leads' polarity.

The sensors are powered through Vcc and GND pins, with Vcc ranging from 2.7 V to 18 V. The quadrature outputs A and B are digital signals, driven low or pulled to Vcc, depending on motor orientation. These signals are square waves with a 50% duty cycle and are 90° out of phase, indicating motor direction and speed.