Motor Comparison
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MotorTest VoltageUnloaded SpeedStall TorquePeak PowerSpeed @ Peak PowerTorque @ Peak PowerTravel or ContinuousCost
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(V)(rot/min)(oz-in)(W)(Ft-Lb/s)(rot/min)(oz-in)
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Tetrix DC Motor - new W73953013.96167.001,100.0010-18?7-13?75.00162.00Continuous$17.47
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Tetrix DC Motor - old W73908313.96176.00400.0010.707.8989.00162.76Continuous$17.47
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AndyMark NeveRest 40 am-296413.96176.00750.0014?9 or 10ish?88.00375.00Continuous$25, includes encoder
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HS-785HB (QS)6.0043.48183.311.471.0821.7491.661260 deg$59.95
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HS-755HB (QS)6.0043.48183.311.471.0821.7491.66180 deg (modifiable: 90 & cont)$34.95
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HS-485HB6.0055.5683.300.850.6327.7841.65180 deg (modifiable: 90 & cont)$17.47
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HSR-1425CR (equiv to Tetrix CR W39177)6.0052.0042.000.400.3026.0021.00Continuous$18.87
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NXT Motor - 98429.00170.0049.562.041.51117.0023.65Continuous$19.99
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NXT Motor - 98427.00135.0038.231.431.0682.0023.65Continuous$19.99
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These values were not measured at stall. They were chosen to make the speed line match the performance measured during
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the tests run in October 2014 and described in the FTC DC Motor Comparison and Test Report.
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Approx. Peak Power is computed as
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Unloaded Speed/2 (r/m)* Stall Torque/2 (oz-in) * 2PI/ 13.887 (oz-in/kg-cm) * 0.098 (N-m/ kg-cm)/ 60(s/m)
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Approx. Peak Power assumes linear speed between unloaded and stall and linear torque between unloaded and stall
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and that peak power is achieved at 50% unloaded speed and 50% stall torque.
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This is OK for order of magnitude calculations, but for exact calculations the exact motor curves should be used.
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For example,the measured peak power of the old Tetrix DC Motor is 10.7 W at ~61% unloaded speed and ~59% stall torque, but the approximation would
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only give around 7W at 50% unloaded speed and 50% stall torque because the old motor's speed vs. torque curve is nonlinear.
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The NXT will provide 9V to the NXT motors when powered with 6 1.5V Alkaline AA batteries. Rechargeable NiMH AA batteries only provide 1.2V each for a total
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voltage of 7.2 V for 6. The Lego rechargeable LiPo pack only puts out 7.4V. If you need peak power for NXT Motors, consider using 6 1.5V AAs!
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Note however that this website reports that the alkaline advantage only lasts a few minutes: http://www.philohome.com/batteries/bat.htm
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Approximate comparison of motors based only on unloaded speed and stall torque, using linear approximation
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Torque (oz-in)AM-2964Tetrix DC V2 (new)Tetrix DC V1 (old)QS ServoStd Servo 180dStd Servo Cont.NXT Motor 7V
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0176.00167.00176.0043.4855.5652.00135.00
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10173.65165.48171.6041.1148.8939.6299.69
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20171.31163.96167.2038.7342.2227.2464.38
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30168.96162.45162.8036.3635.5514.8629.07
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40166.61160.93158.4033.9928.880.000.00
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50164.27159.41154.0031.6222.210.000.00
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60161.92157.89149.6029.2515.540.000.00
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70159.57156.37145.2026.888.870.000.00
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80157.23154.85140.8024.500.000.000.00
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90154.88153.34136.4022.130.000.000.00
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100152.53151.82132.0019.760.000.000.00
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110150.19150.30127.6017.390.000.000.00
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120147.84148.78123.2015.020.000.000.00
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130145.49147.26118.8012.640.000.000.00
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140143.15145.75114.4010.270.000.000.00
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150140.80144.23110.007.900.000.000.00
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160138.45142.71105.605.530.000.000.00
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170136.11141.19101.203.160.000.000.00
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180133.76139.6796.800.790.000.000.00
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190131.41138.1592.400.000.000.000.00
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200129.07136.6488.000.000.000.000.00
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210126.72135.1283.600.000.000.000.00
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220124.37133.6079.200.000.000.000.00
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230122.03132.0874.800.000.000.000.00
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240119.68130.5670.400.000.000.000.00
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250117.33129.0566.000.000.000.000.00
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260114.99127.5361.600.000.000.000.00
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270112.64126.0157.200.000.000.000.00
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280110.29124.4952.800.000.000.000.00
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290107.95122.9748.400.000.000.000.00
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300105.60121.4544.000.000.000.000.00
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310103.25119.9439.600.000.000.000.00
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320100.91118.4235.200.000.000.000.00
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33098.56116.9030.800.000.000.000.00
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34096.21115.3826.400.000.000.000.00
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35093.87113.8622.000.000.000.000.00
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36091.52112.3517.600.000.000.000.00
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37089.17110.8313.200.000.000.000.00
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38086.83109.318.800.000.000.000.00
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39084.48107.794.400.000.000.000.00
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40082.13106.270.000.000.000.000.00
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41079.79104.750.000.000.000.000.00
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42077.44103.240.000.000.000.000.00
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43075.09101.720.000.000.000.000.00
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44072.75100.200.000.000.000.000.00
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45070.4098.680.000.000.000.000.00
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FTC Motor Comparison