REV Motor Encoders

‌REV Robotics HD Hex Motors (REV-41-1291) and the Core Hex Motors (REV-41-1300) come with a magnetic quadrature encoder already installed and an appropriate cable for connecting the encoder output to the REV Robotics Control Hub (REV-31-1595) or Expansion Hub (REV-31-1153). See Table 1 and Table 2 for relevant encoder details.‌

Core Hex Motor (REV-41-1300) Encoder Specifications

Core Hex Motor (REV-41-1300) Reduction	72:1
Free Speed (RPM)	125
Cycles per Rotation of the Encoder Shaft	4 (1 Rise of Channel A)
Counts per Rotation of the Output Shaft	288 (72 Rises of Channel A)

Pinout

The Core Hex Motor uses a 2-pin JST-VH Connector for motor power and a 4-pin JST-PH for sensor feedback from the built-in encoder. For more information on using the cables and connectors included with the Core Hex Motor, see the REV Control System - Cable and Connectors documentation. The image below has the pinout for the motor power and the encoder.

‌HD Hex Motor (REV-41-1291) Encoder Specifications

HD Hex Motor Reduction	Bare Motor	40:1	20:1
Free Speed (RPM)	6000	150	300
Cycles per Rotation of the Encoder Shaft	28 (7 Rises of Channel A)	28 (7 Rises of Channel A)	28 (7 Rises of Channel A)
Counts per Rotation of the Output Shaft	28 (7 Rises of Channel A)	1120 (280 Rises of Channel A)	560 (140 Rises of Channel A)

Pinout

The HD Hex Motor uses a 2-pin JST-VH Connector for motor power and a 4-pin JST-PH for sensor feedback from the built-in encoder. For more information on using the cables and connectors included with the HD Hex Motor, see the REV Control System - Cable and Connectors documentation. The image below has the pinout for the motor power and the encoder.