Geared Motor
B4S12-21XX with Planetary gear

This is a combination of the planetary gear head SPG12, which has excellent durability under high loads / capable of transmitting high torque, and brushless motor B4S12-21XX.

	Gear Ratio	3.5	4.8	12	23	58	107	509
1	Reduction ratio(absolute value)	3.50:1	4.75:1	12.25:1	22.56:1	58.19:1	107.17:1	509.07:1
2	Number of stage	1	1	2	2	3	3	4
3	Efficiency	85	85	72	72	61	62	52	%
4	Direction of rotation	=	=	=	=	=	=	=
5	Length （Motor＋Gear＝L2）	35.2	35.2	39	39	42.8	42.8	46.7	mm
	Length （Motor＋Gear＋Encoder）	TBD							mm
	Length （Motor＋Encoder）	TBD							mm
6	Max allowable torque (Continuous)	100							mNm
7	Max allowable torque (Intermittent)	200							mNm

	Gear Ratio	3.5	4.8	12	23	58	107	509
8	No load speed	4333	3160	1238	673	261	141	30	rpm
9	No load current	70	70	70	69	70	71	71	mA
10	Stall torque	33	45	97	179	393	723	2917	mNm
11	Stall current	1592	1592	1592	1592	1592	1592	1592	mA

	Gear Ratio	3.5	4.8	12	23	58	107	509
8	No load speed	5454	3977	1558	847	328	178	37	rpm
9	No load current	74	74	74	72	74	74	74	mA
10	Stall torque	34	47	102	188	411	757	3057	mNm
11	Stall current	1678	1678	1678	1678	1678	1678	1678	mA