VEX Robotics Motor Data - AndyMark 9015 (AM-0912)


This is the CCL 9015 motor, and is a "RS-500 series" DC motor. This size motor is popular in many consumer products.

Note: Published Specifications were taken from the AndyMark website and are current as of December 10, 2015. Experimental tests were performed using new motors that were purchased during the summer of 2015.

  Published Specification Experimental Data
Free Speed (RPM) 16000 14270
Free Current (A) 1.2 3.7
Maximum Power (W) 179 134
Stall Torque (N · m) 0.428 0.36
Stall Current (A) 63.8 71
The "Down-Up" Test: Why VEX provides the most accurate motor data possible

Learn more about using DC motors and motor curves to design robots





 

VEX Robotics Motor Data - AndyMark 9015 (AM-0912)

 
 

This is the CCL 9015 motor, and is a "RS-500 series" DC motor. This size motor is popular in many consumer products.

Note: Published Specifications were taken from the AndyMark website and are current as of December 10, 2015. Experimental tests were performed using new motors that were purchased during the summer of 2015.

 
  Published Specification Experimental Data
Free Speed (RPM) 16000 14270
Free Current (A) 1.2 3.7
Maximum Power (W) 179 134
Stall Torque (N · m) 0.428 0.36
Stall Current (A) 63.8 71
 
 

The "Down-Up" Dyno Test

VEX Robotics motor curves were developed experimentally using a “down-up” dyno test.

1. A motor is spun at free speed
2. A brake is slowly applied (linearly increasing in torque over time), bringing the motor down to a predetermined RPM
3. The brake is slowly released and the motor is allowed to return to its free speed

A variety of data, such as output speed, output torque, current draw, and power input/output, is taken throughout this test. The “down” (brake applied) side is then averaged with the “up” (brake released) side.

Why "Down-Up"?

The mechanics of a dyno test are crucial to developing and publishing accurate motor specifications. When a motor is spinning at free speed while attached to a dyno drum, the system contains a high amount of rotational inertia. This inertia complements the motor’s own output, creating a false reading for peak output power that can be higher than the motor’s actual performance.

However, manufacturers do not always adjust for inertia cancellation when measuring their motor’s performance, and spec sheets rarely detail the circumstances under which their information was derived.

By testing and averaging both the “down” (inertia helping the motor) and “up” (inertia resisting the motor) sides, this method is the best way to represent a motor’s true capacity.

Click to Expand Motor Curve Data

Click to download motor curve data (.CSV)

Speed (RPM)
Torque (N·m)
Current (A)
Supplied Power (W)
Output Power (W)
Efficiency (%)
Power Dissipation (W)
0
0.358
71.235
854.82
0
0
854.82
142.699
0.35442
70.56
846.72
5.296
0.625
841.424
285.397
0.35084
69.885
838.62
10.485
1.25
828.135
428.096
0.34726
69.21
830.52
15.568
1.874
814.952
570.795
0.34368
68.535
822.42
20.543
2.498
801.877
713.493
0.3401
67.861
814.332
25.411
3.12
788.921
856.192
0.33652
67.186
806.232
30.172
3.742
776.06
998.89
0.33294
66.511
798.132
34.827
4.364
763.305
1141.589
0.32936
65.836
790.032
39.374
4.984
750.658
1284.288
0.32578
65.161
781.932
43.814
5.603
738.118
1426.986
0.3222
64.486
773.832
48.148
6.222
725.684
1569.685
0.31862
63.811
765.732
52.374
6.84
713.358
1712.384
0.31504
63.136
757.632
56.493
7.457
701.139
1855.082
0.31146
62.461
749.532
60.505
8.072
689.027
1997.781
0.30788
61.786
741.432
64.411
8.687
677.021
2140.479
0.3043
61.112
733.344
68.209
9.301
665.135
2283.178
0.30072
60.437
725.244
71.9
9.914
653.344
2425.877
0.29714
59.762
717.144
75.485
10.526
641.659
2568.575
0.29356
59.087
709.044
78.962
11.136
630.082

Speed (RPM)
Torque (N·m)
Current (A)
Supplied Power (W)
Output Power (W)
Efficiency (%)
Power Dissipation (W)
2711.274
0.28998
58.412
700.944
82.332
11.746
618.612
2853.973
0.2864
57.737
692.844
85.596
12.354
607.248
2996.671
0.28282
57.062
684.744
88.752
12.961
595.992
3139.37
0.27924
56.387
676.644
91.801
13.567
584.843
3282.068
0.27566
55.712
668.544
94.744
14.172
573.8
3424.767
0.27208
55.037
660.444
97.579
14.775
562.865
3567.466
0.2685
54.363
652.356
100.307
15.376
552.049
3710.164
0.26492
53.688
644.256
102.929
15.976
541.327
3852.863
0.26134
53.013
636.156
105.443
16.575
530.713
3995.562
0.25776
52.338
628.056
107.85
17.172
520.206
4138.26
0.25418
51.663
619.956
110.151
17.768
509.805
4280.959
0.2506
50.988
611.856
112.344
18.361
499.512
4423.658
0.24702
50.313
603.756
114.431
18.953
489.325
4566.356
0.24344
49.638
595.656
116.41
19.543
479.246
4709.055
0.23986
48.963
587.556
118.282
20.131
469.274
4851.753
0.23628
48.288
579.456
120.048
20.717
459.408
4994.452
0.2327
47.614
571.368
121.706
21.301
449.662
5137.151
0.22912
46.939
563.268
123.258
21.883
440.01
5279.849
0.22554
46.264
555.168
124.702
22.462
430.466
5422.548
0.22196
45.589
547.068
126.04
23.039
421.028
5565.247
0.21838
44.914
538.968
127.27
23.614
411.698
5707.945
0.2148
44.239
530.868
128.393
24.185
402.475
5850.644
0.21122
43.564
522.768
129.41
24.755
393.358
5993.342
0.20764
42.889
514.668
130.319
25.321
384.349
6136.041
0.20406
42.214
506.568
131.122
25.884
375.446
6278.74
0.20048
41.539
498.468
131.817
26.444
366.651
6421.438
0.1969
40.865
490.38
132.406
27.001
357.974
6564.137
0.19332
40.19
482.28
132.887
27.554
349.393
6706.836
0.18974
39.515
474.18
133.262
28.104
340.918
6849.534
0.18616
38.84
466.08
133.529
28.649
332.551
6992.233
0.18258
38.165
457.98
133.69
29.191
324.29
7134.932
0.179
37.49
449.88
133.743
29.729
316.137
7277.63
0.17542
36.815
441.78
133.69
30.262
308.09
7420.329
0.17184
36.14
433.68
133.529
30.79
300.151
7563.027
0.16826
35.465
425.58
133.262
31.313
292.318
7705.726
0.16468
34.79
417.48
132.887
31.831
284.593
7848.425
0.1611
34.116
409.392
132.406
32.342
276.986
7991.123
0.15752
33.441
401.292
131.817
32.848
269.475
8133.822
0.15394
32.766
393.192
131.122
33.348
262.07

Speed (RPM)
Torque (N·m)
Current (A)
Supplied Power (W)
Output Power (W)
Efficiency (%)
Power Dissipation (W)
8276.521
0.15036
32.091
385.092
130.319
33.841
254.773
8419.219
0.14678
31.416
376.992
129.41
34.327
247.582
8561.918
0.1432
30.741
368.892
128.393
34.805
240.499
8704.616
0.13962
30.066
360.792
127.27
35.275
233.522
8847.315
0.13604
29.391
352.692
126.04
35.737
226.652
8990.014
0.13246
28.716
344.592
124.702
36.188
219.89
9132.712
0.12888
28.041
336.492
123.258
36.63
213.234
9275.411
0.1253
27.367
328.404
121.706
37.06
206.698
9418.11
0.12172
26.692
320.304
120.048
37.479
200.256
9560.808
0.11814
26.017
312.204
118.282
37.886
193.922
9703.507
0.11456
25.342
304.104
116.41
38.28
187.694
9846.205
0.11098
24.667
296.004
114.431
38.659
181.573
9988.904
0.1074
23.992
287.904
112.344
39.021
175.56
10131.603
0.10382
23.317
279.804
110.151
39.367
169.653
10274.301
0.10024
22.642
271.704
107.85
39.694
163.854
10417
0.09666
21.967
263.604
105.443
40.001
158.161
10559.699
0.09308
21.292
255.504
102.929
40.285
152.575
10702.397
0.0895
20.618
247.416
100.307
40.542
147.109
10845.096
0.08592
19.943
239.316
97.579
40.774
141.737
10987.795
0.08234
19.268
231.216
94.744
40.976
136.472
11130.493
0.07876
18.593
223.116
91.801
41.145
131.315
11273.192
0.07518
17.918
215.016
88.752
41.277
126.264
11415.89
0.0716
17.243
206.916
85.596
41.368
121.32
11558.589
0.06802
16.568
198.816
82.332
41.411
116.484
11701.288
0.06444
15.893
190.716
78.962
41.403
111.754
11843.986
0.06086
15.218
182.616
75.485
41.335
107.131
11986.685
0.05728
14.543
174.516
71.9
41.2
102.616
12129.384
0.0537
13.869
166.428
68.209
40.984
98.219
12272.082
0.05012
13.194
158.328
64.411
40.682
93.917
12414.781
0.04654
12.519
150.228
60.505
40.275
89.723
12557.479
0.04296
11.844
142.128
56.493
39.748
85.635
12700.178
0.03938
11.169
134.028
52.374
39.077
81.654
12842.877
0.0358
10.494
125.928
48.148
38.235
77.78
12985.575
0.03222
9.819
117.828
43.814
37.185
74.014
13128.274
0.02864
9.144
109.728
39.374
35.883
70.354
13270.973
0.02506
8.469
101.628
34.827
34.269
66.801
13413.671
0.02148
7.794
93.528
30.172
32.26
63.356
13556.37
0.0179
7.12
85.44
25.411
29.741
60.029
13699.068
0.01432
6.445
77.34
20.543
26.562
56.797

Speed (RPM)
Torque (N·m)
Current (A)
Supplied Power (W)
Output Power (W)
Efficiency (%)
Power Dissipation (W)
13841.767
0.01074
5.77
69.24
15.568
22.484
53.672
13984.466
0.00716
5.095
61.14
10.485
17.149
50.655
14127.164
0.00358
4.42
53.04
5.296
9.985
47.744
14269.863
0
3.745
44.94
0
0
44.94

Click to Collapse Motor Curve Data

Click to Expand 3 Minute Peak Power Test Data

Click to download peak power test data (.CSV)

Time (s)
Current (A)
Power Out (W)
0.001
14.01
178.543
0.365
53.17
154.142
0.768
46.47
156.829
1.171
47.92
152.306
1.58
48.18
162.838
1.935
47.59
146.472
2.283
46.97
148.926
2.635
46.08
154.323
2.983
45.07
150.093
3.333
44.58
149.241
3.708
44.07
146.732

Time
Current (A)
Power Out (W)
4.057
43.33
143.621
4.405
42.55
137.977
4.756
41.39
139.858
5.104
41.02
140.485
5.455
40.16
142.462
5.832
39.64
134.258
6.18
38.76
132.893
6.53
38.71
132.167
6.879
38.39
130.69
7.228
38.34
134.483
7.577
37.89
133.586
7.954
37.53
135.4
8.303
37.18
129.563
8.653
36.86
124.407
9.002
36.44
125.559
9.35
36.02
125.015
9.727
35.52
125.559
10.075
35.06
132.42
10.425
34.86
123.676
10.774
34.64
121.975
11.123
34.58
121.265
11.472
34.48
128.049
11.848
34.06
122.843
12.197
33.86
122.077
12.546
33.68
121.914
12.895
33.41
121.225
13.272
33.49
116.142
13.62
33.17
116.965
13.969
33.33
124.283
14.319
33.24
117.456
14.667
33.11
117.319
15.017
33.09
117.398
15.395
33
117.358
15.742
32.85
124.345
16.092
32.79
124.469
16.441
32.52
121.144
16.79
32.46
124.889
17.166
32.32
120.009
17.515
32.17
122.257

Time
Current (A)
Power Out (W)
17.864
31.99
120.416
18.215
31.92
119.281
18.616
31.72
119.849
18.965
31.63
121.265
19.315
31.47
122.522
19.664
31.37
121.185
20.024
31.31
111.194
20.406
31.13
110.584
20.766
31.1
116.161
21.115
30.96
116.731
21.49
30.86
116.75
21.84
30.71
112.638
Time (s)
Current (A)
Power Out (W)
22.188
30.63
112.694
22.538
30.55
111.934
22.888
30.5
108.681
23.263
30.45
116.77
23.612
30.3
112.207
23.962
30.19
111.416
24.31
30.12
111.747
24.66
30.04
110.529
25.036
29.93
110.566
25.385
29.88
110.139
25.735
29.71
106.292

Time
Current (A)
Power Out (W)
26.085
29.66
115.591
26.434
29.63
114.982
26.784
29.5
114.963
27.142
29.4
110.066
27.499
29.33
109.382
27.858
29.17
105.751
28.207
29.09
105.452
28.555
29.06
112.45
28.905
28.92
113.097
29.282
28.93
112.431
29.631
28.8
112.282
29.981
28.8
108.699
30.33
28.69
106.743
30.679
28.73
103.897
31.028
28.6
104.475
31.406
28.49
107.837
31.791
28.35
103.742
32.173
28.16
103.897
32.533
28.16
109.346
32.918
28.18
109.827
33.273
27.98
106.814
33.633
28.01
107.425
33.982
28.11
107.622
34.333
27.95
107.478
34.708
27.9
106.957
35.057
27.81
101.126
35.407
27.77
112.488
35.756
27.72
111.194
36.106
27.68
105.54
36.453
27.54
105.505
36.83
27.61
106.186
37.179
27.62
105.104
37.529
27.44
106.672
37.877
27.55
109.236
38.227
27.43
104.859
38.576
27.5
104.877
38.951
27.37
104.877
39.301
27.37
98.547
39.649
27.18
107.478

Time
Current (A)
Power Out (W)
39.999
27.01
107.981
40.349
27.01
108.79
40.724
26.89
100.514
41.074
26.87
99.34
41.424
26.83
101.838
41.775
26.78
101.906
42.177
26.77
97.47
42.527
26.8
101.193
42.928
26.82
97.969
43.277
26.65
108.053
43.626
27.44
108.554
43.978
27.58
101.075
Time (s)
Current (A)
Power Out (W)
44.325
27.99
98.214
44.675
28.38
83.914
45.023
38.25
100.229
45.391
39.96
73.548
45.748
50.53
57.467
46.099
97.25
20.492
46.447
20
11.4
46.796
19.47
22.846
47.156
18.45
31.17
47.512
17.71
14.705
47.872
17.46
32.219

Time
Current (A)
Power Out (W)
48.257
17.21
8.933
48.613
19.98
28.857
48.972
19.99
20.633
49.321
20.06
18.962
49.67
20.55
24.584
50.031
23.59
28.586
50.413
24.84
20.288
50.774
25.76
18.27
51.147
43.07
12.86
51.496
75.42
1.851
51.846
8.44
12.098
52.194
8.82
0.753
52.544
10.15
10.571
52.894
11.55
2.809
53.268
11.62
1.824
53.632
13.58
0.361
54.022
50.88
0.157
54.388
0
0
54.746
0
0
55.123
0
0
55.471
0
0
55.818
0
0
56.167
0
0
56.557
0
0
56.908
0
0
57.283
0
0
57.661
0
0
58.022
0
0
58.37
0
0
58.718
0
0
59.08
0
0
59.433
0
0
59.807
0
0
60.198
0
0
60.546
0
0
60.895
0
0
61.245
0
0
61.634
0
0
62.036
0
0

Time
Current (A)
Power Out (W)
62.384
0
0
62.738
0
0
63.097
0
0
63.46
0
0
63.839
0
0
64.199
0
0
64.548
0
0
64.897
0
0
65.287
0
0
65.679
0
0

Click to Collapse 3 Minute Peak Power Test Data

Click to download locked rotor stall test data (.ZIP)