| Gearbox parameters | |||||||
| Motor model | N30VA-10150 | N30TA-13115 | |||||
| Rated voltage | 5V | 6V | |||||
| Reduction ratio |
Case length L |
Rated torque (kgf.cm) |
Rated speed (r/min) |
Stall torque （kgf.cm) |
Rated torque (kgf.cm) |
Rated speed (r/min) |
Stall torque （kgf.cm) |
| 9.9 | 6.8 | 0.03 | 1000 | 0.17 | 0.05 | 1588 | 0.32 |
| 29.9 | 6.8 | 0.1 | 315 | 0.5 | 0.2 | 480 | 0.9 |
| 66.8 | 9.1 | 0.2 | 140 | 0.9 | 0.3 | 231 | 1.8 |
| 99 | 9.1 | 0.3 | 94.8 | 1.4 | 0.5 | 152 | 2.6 |
| 150 | 9.1 | 0.4 | 64.7 | 2.1 | 0.7 | 102 | 3.9 |
| 210 | 9.1 | 0.5 | 46.3 | 2.6 | 1.0 | 70.8 | 5.0 |
| 298 | 9.1 | 0.7 | 32.7 | 3.7 | 1.2 | 51.8 | 7.0 |
| 380 | 9.1 | 1.0 | 24.9 | 4.7 | - | - | - |
| 627 | 12.1 | 1.2 | 15.9 | 7.0 | - | - | - |
| Motor parameters | |||||||
| Motor model | Rated voltage | No load | load | Remark | |||
| Electric current | Rotational speed | Torque | Electric current | Rotational speed | |||
| V | mA | r/min | gf.cm | mA | r/min | ||
| N30VA-10150 | 5 | 25 | 12400 | 2 | 80 | 11200 | |
| N30TA-13115 | 6 | 85 | 19200 | 2 | 145 | 18100 | |
