This is 32mm planetary gear motor with hall encoder.

| Gear Ratio Stage | 1 | 2 | 3 | 4 | |
| Gear Ratio | 3.7 | 13.7 | 51.0 | 187 | |
| 5.2 | 19.0 | 71.0 | 262 | ||
| 27.0 | 99.0 | 367 | |||
| 139.0 | 514 | ||||
| 720 | |||||
| Length(mm) | 24.9 | 31.1 | 37.3 | 43.5 | |
| Efficiency(%) | 80% | 70% | 60% | 50% | |
| Rated tolerance torque(Kgf.cm Max.) | 3.0 | 8.0 | 18.0 | 25.0 | |
| Max momentary tolerance torque (Kgf.cm) | 9.0 | 24.0 | 54.0 | 75.0 | |
| Model | Voltage | No Load | Rated Load | ||||
| Speed | Current | Speed | Current | Torque | |||
| Nominal | R/Min | mA | R/Min | mA | Kgf.cm | ||
| DH-32P3157-01 | 12.0 | 1622 | ≤400 | 1378 | ≤2500 | 0.34 | |
| DH-32P3157-02 | 12.0 | 1158 | ≤400 | 985 | ≤2500 | 0.48 | |
| DH-32P3157-03 | 12.0 | 438 | ≤400 | 372 | ≤2500 | 1.11 | |
| DH-32P3157-04 | 12.0 | 316 | ≤400 | 268 | ≤2500 | 1.54 | |
| DH-32P3157-05 | 12.0 | 222 | ≤400 | 189 | ≤2500 | 2.19 | |
| DH-32P3157-06 | 12.0 | 118 | ≤400 | 100 | ≤2500 | 3.55 | |
| DH-32P3157-07 | 12.0 | 85 | ≤400 | 72 | ≤2500 | 4.94 | |
| DH-32P3157-08 | 12.0 | 61 | ≤400 | 52 | ≤2500 | 6.89 | |
| DH-32P3157-09 | 12.0 | 43 | ≤400 | 37 | ≤2500 | 9.67 | |
| DH-32P3157-10 | 12.0 | 32 | ≤400 | 27 | ≤2500 | 10.85 | |
| DH-32P3157-11 | 12.0 | 23 | ≤400 | 19 | ≤2500 | 15.20 | |
| DH-32P3157-12 | 12.0 | 16 | ≤400 | 14 | ≤2500 | 21.29 | |
| DH-32P3157-13 | 12.0 | 12 | ≤400 | 10 | ≤2500 | 25* | |
| DH-32P3157-14 | 12.0 | 8 | ≤400 | 7 | ≤2500 | 25* | |
NOTES:
1. Customizable output shaft dimensions.
2. Motor voltage can be 6V, 12V, 24V or else, while motor speed and torque can be adjusted.
3. The gearbox can also match with other motors.