Robot joints and actuation
24 V 139:1 planetary gearmotor with a published rated-torque duty cycle — heavy arms, lifts and drivetrains that need more power than an RS-555 Yellow Jacket.
Engineering inference
goBILDA
goBILDA Saturn 5304-8002-0139
goBILDA 5304-8002-0139 Saturn is a 24 V RS-560 brushed DC planetary gearmotor with 139:1 steel gearing: 130 rpm no-load, 87.2 kg·cm rated torque at 107 rpm / 11 A and 485 kg·cm stall (60 A) at 24 V, 8 mm REX shaft 79.5 mm long, Ø38.5 mm head, 137.6 mm long, 558 g, magnetic quadrature encoder at 3895.9 PPR on the output shaft.
5304-8002-0139MotorPrice$61.99www.gobilda.com · in stock
Buy at www.gobilda.com Overview
Motor essentials
Facts about the complete product. Unknown values remain open design questions.
- Rated voltage
- 24 V
- No-load speed
- 130 RPM
- Stall torque
- 47.56225 N·m
- Gear reduction
- 139:1
- Shaft diameter
- 8 mm
- Encoder
- relative magnetic Hall-effect quadrature encoder, 3895.9 PPR at output shaft
A good fit for
Guidance to help you shortlist. The basis is shown for each recommendation.
No-load speed, rated performance and stall limits describe different operating points. A stall specification is not a continuous operating rating.
3D model & CAD
3D model & CAD files
Generated from the datasheet's dimensioned drawing and measured against it. Download the STEP to check fit in your own enclosure.
- Envelope (L × W × H)
- 38.5 × 38.5 × 217.1 mm
- Verification
- generated
- Envelope complete
- Yes
Mechanical interface
Mechanical output interface
The motor body, transmission and output shaft have separate roles in a mechanism.
- Motor type
- gearmotor
- Gear reduction
- 139:1
- Shaft diameter
- 8 mm
- Body diameter
- 38.5 mm
- Body length
- 137.6 mm
- Encoder
- relative magnetic Hall-effect quadrature encoder, 3895.9 PPR at output shaft
Reported body dimensions may exclude the shaft, terminals and other protrusions. Use the manufacturer drawing to establish the complete mounting and clearance envelope.
Specifications
Motor performance
No-load, rated-load and stall figures retain their separate test conditions.
- Rated voltage
- 24 V
- No-load speed
- 130 RPM
- No-load current
- 1.3 A
- Stall torque
- 47.56225 N·m
- Stall current
- 60 A
- Continuous rated torque
- 8.5514 N·m
- Rated-load speed
- 107 RPM
- Rated current
- 11 A
Stall torque and current are not continuous ratings. Check the duty cycle and starting load when choosing the driver and power supply.
Thermal limits by level
Product operating conditions, chip ambient ratings, package case limits and junction maxima remain separate.
Motor body
Mechanical dimensions
Reported product dimensions may exclude protruding components. Unknown height does not establish a complete clearance envelope.
- Length
- 38.5 mm
- Width
- 38.5 mm
- Reported height / thickness
- 217.1 mm
- Mounting hole records
- 8
Attached generated geometry is an approximate envelope. A generated outline does not establish an electrically verified PCB footprint.
Board connectors
| ID / type | Pins | Pitch | Notes |
|---|---|---|---|
| motor3.5 mm FH-MC bullet connectors, 470 mm of 18 AWG wire | 2 | Unknown | — |
| encoder4-position JST XH [FH-MC] encoder connector | 4 | Unknown | — |
Complete structured record
Every available field, including details beyond the summaries. Null means the value has not been established.
Sourcing & files
Supplier offers
US / USD is the target market. Observed price and stock are separate from a delivery quote.
www.gobilda.com
US · USD
$61.99Minimum quantity unknown
- Observed stock
- in stock
- Checked
- Oct 1, 2026, 11:13 PM UTC
- Delivery estimate
- Not quoted
Observed within the last 24 hours. Confirm the current supplier quote.
Visit supplier (opens in a new tab)Delivery depends on quantity, postal code and shipping method. A dispatch statement such as “ship today” is not an arrival estimate.
Design files and references
Each source keeps its own verification status. Confirm the part revision and file contents before using it in a design.
Datasheet (opens in a new tab)
Manufacturer reference
goBILDA Saturn 5304-8002-0139 gearmotor (opens in a new tab)
Manufacturer reference
maker product image
STEP (generated from datasheet drawing) — link unavailable
Generated asset
cad_check passed
Generated envelope geometry may also exist for this record. It does not replace manufacturer CAD or a verified electrical land pattern.
Source evidence
Document provenance, retrieval dates and the field groups supported by each source.
Supports: spec.constraints.electrical.supply_voltage_nominal_v, spec.geometry.body_diameter_mm, spec.geometry.body_length_mm, spec.geometry.cad.bbox.height_mm, spec.geometry.cad.bbox.length_mm, spec.geometry.cad.bbox.width_mm, spec.geometry.cad.envelope_complete, spec.geometry.cad.mesh_path, spec.geometry.cad.step_path, spec.geometry.cad.verification, spec.geometry.dimensions.height_mm, spec.geometry.dimensions.length_mm, spec.geometry.dimensions.width_mm, spec.geometry.mounting_holes, spec.geometry.other.weight_g, spec.geometry.shaft_diameter_mm, spec.geometry.shaft_extension_mm, spec.provides.features, spec.provides.feedback, spec.provides.gear_ratio, spec.provides.motor_type, spec.provides.no_load_speed_rpm, spec.provides.output_type, spec.provides.rated_speed_rpm, spec.provides.rated_torque_nm, spec.provides.stall_torque_nm, spec.usage.connectors, spec.usage.pinout, spec.usage.pinout_complete, spec.usage.requirements.no_load_current_a, spec.usage.requirements.rated_current_a, spec.usage.requirements.rated_voltage_v, spec.usage.requirements.stall_current_a
sha256 7b421c17213ce2c1f4335e1ff8c5f6460a6bab2b3018eb6cf2de70bee5203d85
Supports: offers
FAQ
goBILDA Saturn 5304-8002-0139 questions
How much does the goBILDA Saturn 5304-8002-0139 cost?
From $61.99 at www.gobilda.com. Prices are observed unit prices before tax and shipping.
What are the goBILDA Saturn 5304-8002-0139 dimensions?
38.5 × 38.5 × 217.1 mm. A STEP model is available for enclosure fit checks.
Where does this goBILDA Saturn 5304-8002-0139 data come from?
Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.