# content
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

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)

REV-21-1653

am-4258

am-4258a

REV Robotics NEO 550

REV-21-1651

am-4259

REV Robotics NEO Vortex

REV-21-1652

am-5275

Thrifty Bot Pulsar 775

TTB-0350

VEX BAG

217-3351

VEX Mini-CIM

217-3371

West Coast Products Kraken x44

WCP-0941

W est 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 brushed motors, linear actuators, electrical solenoid actuators, or electromagnets rated for 12V and wired to an approved power regulating device 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.

# contentMap.en
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

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)

REV-21-1653

am-4258

am-4258a

REV Robotics NEO 550

REV-21-1651

am-4259

REV Robotics NEO Vortex

REV-21-1652

am-5275

Thrifty Bot Pulsar 775

TTB-0350

VEX BAG

217-3351

VEX Mini-CIM

217-3371

West Coast Products Kraken x44

WCP-0941

W est 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 brushed motors, linear actuators, electrical solenoid actuators, or electromagnets rated for 12V and wired to an approved power regulating device 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.