Table 2: Compact DC motor and gearbox set properties.

ParametersNominal valuesTolerance

Coil resistancer = 9 ohm4%
Coil inductancel = 0.1 H5%
Torque const. = 3.33%
Back emf const. = 5.623%
Gearbox ratio
Motor inertia 3%
Operating Max. Voltage
Max. armature current =4 A