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I would like to control the position and velocity of a DC motor like this one (ZY MY 1016 - 24V - 10A - 200W). The motor comes with a 13 TOOTH SPROCKET and the diameter of the shaft is 6mm. It's not possible to apply an encoder to the back of the motor (see picture)

The angular velocity in the description is 2750 RPM, which encoder do you recommend?

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Any of them. Which ones have you looked at?

I googled, and the first one that came up was a smaller pololu unit for a micro robot, enter image description here

But you know what? They all work the same and are fairly simple to build / adapt.

You probably can locate a hall effect sensor at the 13 tooth sprocket. Understanding Integrated Hall Effect Rotary Encoders

Other than that, this sounds like a shopping question, you might get lucky and find someone who has used a 6mm shaft encoder and can recommend it, but that is not a robotics question.

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  • $\begingroup$ The one you posted is designed to work with Pololu micro metal gearmotors. I was thinking about this one robot-italy.com/it/amt102-v-quadrature-encoder.html. $\endgroup$ – UserK Jan 3 '15 at 15:38
  • $\begingroup$ Unless you get very lucky, you will have to make mechanical modification to accommodate anything. But, given that, the Pololu unit could work on a car. You just have to settle on what is the least amount of work to give you what you need. $\endgroup$ – Spiked3 Jan 3 '15 at 15:43
  • $\begingroup$ Ok I'll try with quadrature encoders and post the answer. I've used them with smaller dc motors. Maybe the 6mm adapter will work without any modification $\endgroup$ – UserK Jan 3 '15 at 15:57
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I doubt you will be able to simply by something an attach it. How to make an encoder will depend on how this motor is used. Are you doing a chain, gears? You will need to design the rotation sensor into the rest of the power transmission system.

What you do is place a disk of some kind, plastic or metal and then you make a hole or slot in the disk and your sensor detects the slot. The simplest sensors to use are these IR LED/photo transistors. They are cheap and very reliable even in bright light. I use them with a black plastic disk. But test your disk material first. Some that looks black is transparent in IR. Metal is best.
IR sensor To use them you need to add two resisters and 5V power. 330R for a current limiter on the LED side and a 10K load resister on the transistor side. Those values are not critical. I connect this to a interrupt pin on an Arduino.

In your case you might drill a hole in the sprocket gear and mount an IR sensor where it can "see" the hole. The sensor come with different slot widths. I'd pick a width abut twice the thickness of the disk

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