DFRobot - TT Motor with Encoder (6V 160RPM 120:1)

This 120:1 TT geared motor with encoder adds motion feedback to mobile robot projects, helping a controller work with measured rotation rather than a motor command alone. The gearbox provides 160 rpm no-load speed at the rated 6V, while the integrated quadrature encoder supports speed and direction sensing. Pair this motor with an Arduino controller and a suitable motor driver to develop PWM speed control or closed-loop PID experiments. A copper output shaft, embedded thread and reinforced connector support practical assembly, and separate motor and encoder cables are included for integration. 

120:1 Reduction for Mobile Robot Drive Projects

This TT motor combines a compact DC motor with a 120:1 gearbox for lower-speed output suitable for mobile robot mechanisms. The listed no-load speeds are 160 rpm at 6V and 60 rpm at 3V, providing reference points for selecting a supply and planning motion. Rated torque is 0.2kgf.cm, while maximum stall torque is 0.8kgf.cm. Actual operating speed depends on the load, so the no-load figures should not be treated as guaranteed wheel speeds.

Quadrature Feedback for Speed and Direction Control

This geared motor's integrated quadrature encoder provides two-phase feedback that a controller can use to determine rotation direction and estimate speed. The manufacturer lists 8 pulses per motor revolution and 960 pulses per gearbox output revolution through the 120:1 reduction. The resulting feedback supports closed-loop control experiments, with software calculating motion and adjusting the driver's PWM command. Pulse counts must match the chosen decoding method; counting signal edges can change the number recorded by the program.

Copper Shaft and Separate Connection Cables

This TT motor features a copper output shaft with an embedded thread and a reinforced connector, supporting repeated assembly in robotics projects. The supplied JST 2-pin motor cable and JST 4-pin encoder cable separate motor power from feedback wiring. The encoder interface is compatible with DFRobot's Gravity interface, while the motor still requires an appropriate driver. Follow the separate voltage requirements when wiring: the motor accepts 3~7.5V, and the encoder requires 4.5~7.5V.

Wiring Diagram of 120:1 TT geared motor and Arduino

• 120:1 gearbox with 160 rpm no-load speed at 6V
• Integrated quadrature encoder for speed and direction feedback
• Supports controller-based PWM and closed-loop PID projects with a separate motor driver
• Copper output shaft with embedded thread and reinforced connector
• Gravity-compatible encoder interface
• Separate JST motor and encoder cables included

• Mobile robot drive prototypes
• Closed-loop motor speed-control experiments
• Encoder-based speed and direction sensing
• Arduino PWM and PID demonstrations

• Gear ratio: 120:1
• No-load speed @ 6V: 160 rpm
• No-load speed @ 3V: 60 rpm
• No-load current @ 6V: 0.17A
• No-load current @ 3V: 0.14A
• Max Stall current: 2.8A
• Max Stall torque: 0.8kgf.cm
• Rated torque: 0.2kgf.cm
• Encoder operating voltage: 4.5~7.5V
• Motor operating voltage: 3~7.5V (Rated voltage 6V)
• Operating ambient temperature: -10~+60℃
• Weight: 50g

• Micro DC Motor with Encoder-SJ01 x1
• JST 2-Pin motor cable x1
• JST 4-Pin encoder cable x1