An ironless rotor and rare earth magnets allow a stall torque of 2.89 mNm and speeds up to 14,700 rpm. The manufacturer claims the precious-metal commutation creates low-contact resistance that lets the motor operate at low-starting voltages. It has a 1-mm diameter motor shaft, a black housing for heat dissipation, and can be combined with a gearbox and encoder. Planetary and spur gearboxes come in 10 and 12-mm diameters with output torques up to 450 mNm. Two channel-magnet encoders control speed and direction of rotation and drive-shaft positioning.