Motor DC 12V 18RPM Worm Gearbox with Encoder



The first step in a robotics project is to get a motor spinning. Once you've done that you quickly learn that not all motors go the same speed, even if they are the same part number! There are always variations that relate to voltage, environment, and manufacturing changes. So, the second step is to figure out how fast it's going! Turns out that's not so easy, but the best way to get started is to add an encoder wheel and an optical or magnetic counter. As the motor turns, the attached encoder wheel spins, causing the counter to detect each passing spoke and that lets your microcontroller count and determine speed.

If you want to do one better, add a second counter, and now you can tell direction as well as speed! All this wiring is kind of a pain, so that's why this motor is really nice! It has a magnetic wheel and two hall effect sensors already attached. Using this motor is a breeze, and it's a nice strong motor as well.


  • Red: Motor VCC
  • Black: Encoder GND
  • Yellow: Encoder A Phase
  • Green: Encoder B Phase
  • Blue: Encoder VCC (3.3V-5V)
  • White: Motor GND

Note: Red/White can be reversed to control forward reverse rotation of motor. Black/Blue *CANNOT* be reversed. Connecting Black/Blue wrongly will permanently damage the encoder.




  • Operating Voltage: 12V
  • Output Shaft Diameter: 6mm
  • Reduction Ratio: 340:1
  • No Load Operating Current: 0.06A
  • No Load RPM: 18 ±10%
  • Rated Load Operating Current: 0.2A
  • Rated Load RPM: 13 ±10%
  • Rated Load Torque: 12kg
  • Rated Load Power: 2.4W
  • Stall Torque: 34kg
  • Stall Current: 1.3A


  • Operating Voltage: 3.3V-5V
  • Type: AB Dual Phase Incremental Magnetic Hall Encoder
  • Output Signal Type: Square Wave AB
  • Response Frequency: 100KHz
  • Pulse Per Revolution: 11PPR



  • 1x Motor DC 12V 18RPM Worm Gearbox with Encoder