Geared Motor
BMS12-21XX 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 brushed motor BMS12-21XX.

	Gear Ratio	3.5	4.8	12	23	58	107	509
1	Reduction ratio (absolute value)	3.50:1	4.80:1	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	61	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	6436	4693	1839	999	387	210	44	rpm
9	No load current	146	146	146	144	146	147	148	mA
10	Stall torque	34	47	101	187	410	754	3045	mNm
11	Stall current	3941	3941	3941	3941	3941	3941	3941	mA

	Gear Ratio	3.5	4.8	12	23	58	107	509
8	No load speed	6859	5002	1960	1065	413	224	47	rpm
9	No load current	102	102	102	100	102	102	103	mA
10	Stall torque	36	49	106	195	427	786	3174	mNm
11	Stall current	2703	2703	2703	2703	2703	2703	2703	mA