The T200 has a great underwater motor. I want to hook it up to a gear train to run a winch, while using external control to ensure I don’t exceed the 4000 RPM limit or the power limit.
Are there any guides on using the T200 with gears or similar attachments instead of the propeller?
Since I don’t need the propeller or shrouding, should I buy just the ROV core instead of the whole thruster?
Assuming you’re making your own rotor, that’s likely the best option at this point, yes.
We used to sell the M100/M200 as standalone motors that weren’t built in to a thruster housing. We’re currently working on bringing back the M200 with some extra robustness, but it likely won’t be available again until some time next year (we have several ongoing development projects).
Not that I’m aware of. From a quick forum search of “T200 gear” / “M200 gear” the following comment seemed the most relevant, but you may find other interesting tidbits in other comments/threads 
@overblown_petri Did you have any success with this endeavor? I am looking at a similar application.
@EliotBR Is there any guess on when the M200 might be available?
I wouldn’t expect it earlier than the second half of this year, but I don’t believe we have a fixed release date planned.
Thanks, Eliot
What are the main differences beteen the T and M that might cause me problems in adapting a T200 ROV core and rotor to attach to a gear train? Is it just the stator mount? Would I have to attach the gear train to the post or the barrel of the rotor (or either)?
As I understand it the primary difference is the stator mount - the arms on the T200 Core aren’t non-destructively removable, and it doesn’t include a flat rear with holes that are intended for mounting to. The M200 Usage Guide is still available, if you want to find out a bit more about it
The T200/M200 Rotor is a shared part, and I don’t expect that would change.
How you mount things is up to you. The simplest options I can think of would be
Checking back on the status for the M200 (or 500?). Is it still on the list for development If so, is there a rough ideas when it might be available? [I did buy an T200 to work with, but easier mounting might be worth looking at]
Hi @fishnext,
M200 is in active development/validation, and at this stage we’re still expecting to release it before the end of the year
M500 is also on the roadmap but in an earlier stage of development, so has a less defined timeline. It will likely be released some time next year, and I’d expect closer to the second half.
I am trying to do the same thing. Has anyone found a gearbox (planetary gearbox preferred) that can work with the T200/M200 motor? @overblown_petri ?
I got a gearbox kit Super Duty Worm Drive Pan Kit (28:1 Ratio), but have stalled out on assembly, making the connections, and full mounting (too many projects rolling). This is a worm drive, as I want to minimize backward driving and the right-angle turn might actually help for the application I am working toward. It looks as though it should work, but the motor/gearbox linkage needs more thought.
Update: the M200 has now been released
I have finally put a T200 motor together with a 28:1 worm drive for an underwater winch. My odd application has the winch reversible and only used for three spool rotations back and forth, preferably capable of making small adjustments. It has become obvious that this is not a good match for a motor designed for continuous rotation at very high RPM. The motor jitters and then takes off, turning the spool many times before it can be stopped, preventing small adjustments.
I am looking for any advice on achieving smoother starts and stops. It is being run through a Thruster Commander and a Basic ESC over 100 ft of 3x16AWG, putting 28V in at the top to get the enough voltage at the motor. I have some flexibility to shorten the cable.
Any advice would be appreciated.
Hi @fishnext -
The T200/M200 in general is not a low-speed high-torque motor. You may want to step down the RPM of the motor with a planetary drive before your worm, so less start/stop torque is required? This will make your existing setup start at lower RPM. I’ve also seen very high gear ratios achieved through strain-wave or cycloid gearboxes, while keeping a much lower starting torque than worm drives.
I’m surprised your application is so fine - is this for a level wind? We have an upcoming underwater servo that can be set to continuous (control signal governs velocity) or angular rotation, that may be much better suited for your application, as it is low-speed high torque! In the meantime, Blue Trails engineering has some options.
Beyond that, you’d need a much fancier motor speed controller that uses an encoder to know the motor position, and control it in a closed-loop fasion. Special magnets with unique polarity over a potted magnetic encoder can work with an odrive, but it can be challenging to get the correct parameters setup to avoid burning your motor up - the phases aren’t designed for low-speed operation - much higher currents with poor cooling!
Noting that the M500 has now been released 