Rule R501

R501 *Allowable motors. The only motors and actuators permitted include the following (in any quantity):

Table 8‑1 Motor allowances

Motor Name	Part Numbers Available
AndyMark 9015	am-0912	AndyMark 9015
AndyMark NeveRest	am-3104
AndyMark PG	am-2161 (alt. PN am-2765)	am-2194 (alt. PN am-2766)
AndyMark RedLine Motor	am-3775	am-3775a
AndyMark Snow Blower Motor	am-2235	am-2235a
Banebots	am-3830 M7-RS775-18 RS775WC-8514	M5 – RS550-12 RS550VC-7527 RS550
CIM	FR801-001 M4-R0062-12 AM802-001A 217-2000 PM25R-44F-1005	PM25R-45F-1004 PM25R-45F-1003 PMR25R-45F-1003 PMR25R-44F-1005 am-0255
CTR Electronics Minion	24-777378	WCP-1691
CTR Electronics/VEX Robotics Falcon 500	217-6515 am-6515	19-708850 am-6515_Short
Current/former KOP automotive motors	Denso AE235100-0160 Denso 5-163800-RC1 Denso 262100-3030	Denso 262100-3040 Bosch 6 004 RA3 194-06 Johnson Electric JE-PLG-149 Johnson Electric JE-PLG-410
Nidec Dynamo BLDC Motor	am-3740	DM3012-1063
Playing with Fusion Venom	BDC-10001
REV Robotics HD Hex	REV-41-1291
REV Robotics NEO Brushless	REV-21-1650 (v1.0 or v1.1)	am-4258 am-4258a
REV Robotics NEO 550	REV-21-1651	am-4259
REV Robotics NEO Vortex	REV-21-1652	am-5275
VEX BAG	217-3351
VEX Mini-CIM	217-3371
West Coast Products Kraken x44	WCP-0941
West Coast Products Kraken x60	WCP-0940	am-5274
West Coast Products RS775 Pro	217-4347

Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Hard drive motors part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).
PWM COTS rotational servos with stall current ≤ 4A and mechanical output power ≤ 8W at 6V. PWM COTS linear servos with max stall current ≤ 1A at 6V.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting
1 compressor compliant with R806 and used to compress air for the ROBOT’S pneumatic system
COTS linear actuators, electrical solenoid actuators, or electromagnets rated for 12V and wired downstream of a breaker 20A or less. Electrical solenoid actuators or electromagnets used at 24V must be rated for 24V.

For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.

Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer): Mechanical Output Power (in W) = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s). This calculator from the FIRST Tech Challenge documentation can be used to help calculate output power from inputs of various units.

Given the extensive amount of motors allowed on the ROBOT, teams are encouraged to consider the total power available from the ROBOT battery during the design and build of the ROBOT. Drawing large amounts of current from many motors at the same time could lead to drops in ROBOT battery voltage that may result in tripping the main breaker or trigger the brownout protection of the roboRIO. For more information about the roboRIO brownout protection and measuring current draw using the PDP/PDH, see roboRIO Brownout and Understanding Current Draw.

AndyMark PG Gearmotors are sold with labeling based on the entire assembly. Assemblies labeled am-3651 through am-3656 contain legal motors specified in Table 8‑1. These motors may be used with or without the provided gearbox.