# Connecting T200 thruster motor to gear train? **URL:** \ **Category:** Thrusters and Motors\ **Created:** [September 24, 2021, 5:04pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675 "2021-09-24T17:04:52Z")\ **Posts on this page:** 14\ **Page:** 1
**Author:** ![overblown\_petri](https://avatars.discourse-cdn.com/v4/letter/o/8e8cbc/32.png) [@overblown\_petri](https://discuss.bluerobotics.com/u/overblown_petri)\ **Post date:** [September 24, 2021, 5:04pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/1 "2021-09-24T17:04:52Z")
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](https://bypass.bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster-core/) instead of the whole thruster? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 26, 2021, 10:59pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/2 "2021-09-26T22:59:32Z")
> [@overblown\_petri](#): > > Since I don’t need the propeller or shrouding, should I buy just the [ROV core](https://bypass.bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster-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). > [@overblown\_petri](#): > > Are there any guides on using the T200 with gears or similar attachments instead of the propeller? Not that I’m aware of. From a quick [forum search](https://discuss.bluerobotics.com/t/how-to-use-the-blue-robotics-forums-please-read/10521#searching-the-forum-10) of “[T200 gear](https://discuss.bluerobotics.com/search?q=T200%20gear)” / “[M200 gear](https://discuss.bluerobotics.com/search?q=M200%20gear)” the following comment seemed the most relevant, but you may find other interesting tidbits in other comments/threads 🙂 > [@ROV Manipulator](https://discuss.bluerobotics.com/t/rov-manipulator/899/18): > > Hi Oystein, I am not aware of any gearboxes that will fit our motors without modification of customized adapters. It is unlikely that any are available- if you wish to gear down an M100 or N200, you will likely need to modify an existing gearbox or make your own! Vex robotics kits parts are often used for such things, though they may be a bit large. A planetary gearbox or worm gear drive will be more compact. -Adam ---
**Author:** ![fishnext](https://avatars.discourse-cdn.com/v4/letter/f/c5a1d2/32.png) [@fishnext](https://discuss.bluerobotics.com/u/fishnext)\ **Post date:** [March 29, 2022, 11:04pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/3 "2022-03-29T23:04:16Z")
@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? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [March 30, 2022, 4:35am UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/4 "2022-03-30T04:35:21Z")
> [@fishnext](#): > > @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. ---
**Author:** ![fishnext](https://avatars.discourse-cdn.com/v4/letter/f/c5a1d2/32.png) [@fishnext](https://discuss.bluerobotics.com/u/fishnext)\ **Post date:** [March 30, 2022, 2:45pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/5 "2022-03-30T14:45:38Z")
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)? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [March 31, 2022, 1:51am UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/6 "2022-03-31T01:51:27Z")
> [@fishnext](#): > > 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? As I understand it the primary difference is the stator mount - the arms on the [T200 Core](https://bypass.bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster-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](https://bluerobotics.com/learn/m200-r2-motor-usage-guide/) is still available, if you want to find out a bit more about it 🙂 The [T200/M200 Rotor](https://bypass.bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-asm-rotor-r3-rp/) is a shared part, and I don’t expect that would change. > [@fishnext](#): > > Would I have to attach the gear train to the post or the barrel of the rotor (or either)? How you mount things is up to you. The simplest options I can think of would be - the two M3 propeller mount holes on the rotor face, or - something like a [set-screw hub](https://www.servocity.com/set-screw-hubs/) mounted to the shaft ---
**Author:** ![fishnext](https://avatars.discourse-cdn.com/v4/letter/f/c5a1d2/32.png) [@fishnext](https://discuss.bluerobotics.com/u/fishnext)\ **Post date:** [October 19, 2022, 4:00pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/7 "2022-10-19T16:00:52Z")
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] ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [October 20, 2022, 3:52am UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/8 "2022-10-20T03:52:18Z")
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. ---
**Author:** ![SwimClips](https://avatars.discourse-cdn.com/v4/letter/s/34f0e0/32.png) [@SwimClips](https://discuss.bluerobotics.com/u/SwimClips)\ **Post date:** [December 22, 2022, 9:29pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/9 "2022-12-22T21:29:45Z")
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 ? ---
**Author:** ![fishnext](https://avatars.discourse-cdn.com/v4/letter/f/c5a1d2/32.png) [@fishnext](https://discuss.bluerobotics.com/u/fishnext)\ **Post date:** [December 26, 2022, 2:20pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/10 "2022-12-26T14:20:03Z")
I got a gearbox kit [Super Duty Worm Drive Pan Kit (28:1 Ratio)](https://www.servocity.com/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. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [June 23, 2023, 12:16am UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/11 "2023-06-23T00:16:26Z")
Update: [the M200 has now been released](https://discuss.bluerobotics.com/t/re-release-of-the-m200-motor-new-guide/14523) 🙂 ---
**Author:** ![fishnext](https://avatars.discourse-cdn.com/v4/letter/f/c5a1d2/32.png) [@fishnext](https://discuss.bluerobotics.com/u/fishnext)\ **Post date:** [March 14, 2026, 10:32pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/12 "2026-03-14T22:32:35Z")
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. ---
**Author:** ![tony-white](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tony-white/32/18385_2.png) [@tony-white](https://discuss.bluerobotics.com/u/tony-white)\ **Post date:** [March 15, 2026, 12:52am UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/13 "2026-03-15T00:52:33Z")
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](https://www.bluetrailengineering.com/servos). 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](https://www.crowdsupply.com/odrive-robotics/odrive-micro/updates/odrive-micros-integrated-magnetic-encoder) can work with an [odrive](https://odriverobotics.com/?srsltid=AfmBOoqgGNX-SyWvEl0_6cRI2IviPw-JgtJTqoIib5QGKFcXIkW41i3r), 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! ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [June 11, 2026, 8:25pm UTC](https://discuss.bluerobotics.com/t/connecting-t200-thruster-motor-to-gear-train/10675/14 "2026-06-11T20:25:45Z")
> [@EliotBR](#): > > M500 is also on the roadmap … Noting that [the M500 has now been released](https://discuss.bluerobotics.com/t/new-product-m500-motor/23153) 🙂