Motor Specifications (listed @12V)

Free Speed
(RPM)

Stall Torque (Nm)

CIM
MiniCIM
BAG Motor
BAG Motor w/ 100:1 VersaPlanetary

5310
6200
14000
133

2.43
1.40
0.40
38.00

RS-775-18 (@12V)
RS-775-12
RS-555
RS-550
RS-545-12
RS-540-12
RS395-12
RS390-12

13000
7300
7750
19300
16800
16800
15500
12180

0.78
0.4315
0.21
0.49
0.1667
0.2788
0.1178
0.1331

AM PG Motor (no gearbox)

AM PG27 Gearmotor
AM PG71 Gearmotor
AM PG188 Gearmotor
AM 9015

5325
198
75
28
16000

0.3188
8.5410
22.5000
44.7400
0.428

FP 00801-0673
FP 00968-2719
FP 00968-9015
FP 00968-9012
FP 00968-9013

20770
16100
15600
15600
16700

0.5324
0.406
0.44982
0.42016
0.475242

Denso Window Motor RH 262100-3030 (fc13-103)

84

10.6

Denso Window Motor LH 262100-3040 (fc13-102)

84

10.6

92

9.194

Nippon-Denso E6DF14A365BB or E6DF

14A366BB
Keyang
Window Motor RH
Snowblower motor

70

13.276

100

11.298

Denso Throttle Control AE2351000160

5300

0.127

VEX 393 Motor (as shipped)

VEX 393 Motor (high speed)

167
267

2.78
1.73

CIM + MiniCIM @ 1:1

CIM + MiniCIM @ 14:12
CIM+550 @ 4:1

5310
5310
5310

3.50
3.85
4.00

Stall Current
(Amp)

Free Current
(Amp)

Power (W)

133.00
86.00
41.00
41.00

2.70
1.50
1.80
1.80

337.81
227.24
146.61
132.31

86.67
30
0.40
85.00
21
42
15
14.5

1.80
1.1
15.00
1.40
0.9
1
0.5
0.3

266.60
82.47
41.78
245.66
73.32
122.62
47.80
42.44

22
22
22
22
63.8

0.6
0.6
0.6
0.6
1.2

44.44
44.27
44.18
32.80
179.28

108.7
63
70
63.5
75

0.82
2
1.25
1
2

289.50
171.13
183.71
171.60
207.78

18.6

1.8

23.31

21

1.8

23.31

20

0.5

22.14

20

0.5

24.33

24

29.58

0.4

17.62

8.00
8.00

0.62
0.62

12.14
12.10

203.00
203.00
218.00

6.40
6.40
4.10

486.55
535.21
556.06

411.13

2-Speed Drivetrain
Free Speed
(RPM)
CIM

Stall Torque Stall Current Free Current

(N*m)
(Amp)
(Amp)

5310

# Gearboxes # Motors per

in Drivetrain
Gearbox
2

Driving
Gear
12
1
12

Driven
Gear
40
1
24

2.43

133

2.7

Total Robot
Weight (lbs)

Weight on
Driven
Wheels

154

100%

High Speed High Speed

Driving Gear Driven Gear
40

44

Low Speed
Low Speed
Driving Gear Driven Gear
2.27 x

<--Shifter Spread

24

60

Speed Loss
Constant

Drivetrain
Efficiency

81%

90%

Wheel Dia.
(in)

Wheel Coef

1.3

Drivetrain
Pushing Match
High Gear
Current per
Adjusted
Motor
Speed
12.64 ft/s
10.24 ft/s
94.59 Amps
7.33 : 1 <-- High Gear

Drivetrain
High Gear
Free-Speed

Drivetrain
Pushing Match
Low Gear
Current per
Adjusted
Motor
Speed
5.56 ft/s
4.50 ft/s
43.13 Amps
16.67 : 1 <-- Low Gear

Drivetrain
Low Gear
Free-Speed

1-Speed Drivetrain
Free Speed
(RPM)
CIM

5310

# Gearboxes # Motors per

in Drivetrain
Gearbox
2

Driving
Gear
12
14
15
1

Driven
Gear
40
40
22
1

Stall Torque Stall Current Free Current

(N*m)
(Amp)
(Amp)
2.43

133
Total Weight
(lbs)
154

Drivetrain
Free-Speed
6.63 ft/s
13.97 : 1

2.7
Weight on
Driven
Wheels
100%

Drivetrain
Adjusted
Speed
5.37 ft/s
<-- Overall Gear Ratio

Speed Loss
Constant

Drivetrain
Efficiency

81%

90%

Wheel Dia.
(in)

Wheel Coef

1.3

Pushing
Match
Current per
Motor
50.94 Amps
Overall Gear Ratio

Rotary Mechanism
Free Speed
(RPM)
CIM
5310
# Motors per
Gearbox
1

Driving
Gear
12
14
20
1
40.00 : 1

Stall Torque
(N*m)
2.43

Gearbox
Efficiency
65%

Driven
Gear
40
40
84
1
<-- Overall Ratio

Stall Current
(Amp)
133
Arm Load (lbs)
10

Arm
Rotational
Speed
No Load: 796.5 deg/s
Loaded: 226.7 deg/s

Free Current
(Amp)
2.7
Arm Length
(in)
40

Arm Time to
move 90degrees
0.11 sec
0.40 sec

Current Draw
per Motor
(loaded)

Stall Load

63.29 amps

13.98 lbs

Linear Mechanism
Free Speed
(RPM)
CIM
5310

Stall Torque
(N*m)
2.43

Stall Current
(Amp)
133

# Motors per
Gearbox

Gearbox
Efficiency

Travel
Distance (in)

Applied Load
(lbs)

80%

48

10

Driving
Gear
12
14
1
1
9.52 : 1

Driven

Elevator
Linear Speed

Gear
40
40
1
1
<-- Overall Ratio

No Load:
Loaded:

58.4 in/s
54.8 in/s

Current Draw
per Motor
(loaded)
9.06 amps

Free Current
(Amp)
2.7
Pulley
Diameter (in)
2

Arm Time to
move Travel
Distance
0.82 sec
0.88 sec

Stall Load
163.86 lbs

Intake Mechanism
Free Speed
(RPM)
CIM
5310
# Motors per
Gearbox

Gearbox
Efficiency

80%

Driving
Gear
12
1
1
1
4.17 : 1

Stall Torque
(N*m)
2.43

Stall Current
(Amp)
133

Free Current
(Amp)
2.7

Travel
# Intake Sides
Roller
Distance (in)
(1 or 2)
Diameter (in)
40

Driven

Intake Linear
Speed

Gear
50
1
1
1
<-- Overall Ratio

No Load:
Loaded:

133.5 in/s
124.1 in/s

Intake Time
to move
Travel
Distance
0.30 sec
0.32 sec

Current Draw
per Motor
(loaded)

Stall Drag
Load

17.24 amps

143.38 lbs

Drag Load (lb)

10