NeveRest Classic 40 Gearmotor

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 6mm dia and the gearbox housing is 37mm diameter.



This is the same as part 'am-2964' as per the manual, these have the addition of power pole connectors pre-attached!



FRC/FTC Legality:

According to the FIRST Tech Challenge Game Manual Part 1, Rule RE09, this is legal for the 2018 FTC Game.According to the FIRST Robotics Challenge Game Manual, Rule R33, this is legal for the 2018 FRC Game as it uses the NeveRest am-3104 motor.

Encoder Cable Options:

The NeveRest Classic 40 does not currently come with our am-2992 cable which has the white 4-pin connector for the encoder and also the black 4-pin connector for the HiTechnic and Modern Robotics motor controller. am-2993 is an optional encoder cable which has the white 4-pin connector on one end and 4 separate black connectors on the other end.



Encoder:

There is an encoder mounted to the back side 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.



Working with the Encoders:

https://ftc-tricks.com/dc-motors/Reddit White Paperhttps://www.youtube.com/watch?v=d0liBxZCtrAPerformance Specs:

Gearbox Reduction: 40:1

Voltage: 12 volt DC

No Load Free Speed, at gearbox output shaft: 160 rpm

Force Needed to Back-Drive: 12.8 oz-in

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

More Information:

Cougar Robotics 4251 has done some great research on this motor. See their notes on our motor.