# Motor Component

This section documents the configuration attributes for each built-in motor model. Use these pages when you are writing a JSON configuration, debugging a config validation error, or looking up the default for a specific attribute.

- For how to add and configure a motor component on your machine, see [Motor](https://docs.viam.com/hardware/common-components/add-a-motor/).
- For the methods you call on a motor in code, see the [Motor API reference](https://docs.viam.com/reference/apis/components/motor/).
- For motor models outside the built-in set, search for `motor` in the [Viam registry](https://app.viam.com/registry). Each registry module’s configuration is documented in its own README on its registry page.

## Built-in models

The following motor models ship with `viam-server`:

| Model | Description |
| --- | --- |
| [`dmc4000`](https://docs.viam.com/reference/components/motor/dmc4000/) | Stepper motor driven by a DMC-40x0 series motion controller. |
| [`encoded-motor`](https://docs.viam.com/reference/components/motor/encoded-motor/) | Standard brushed or brushless DC motor with an encoder. |
| [`fake`](https://docs.viam.com/reference/components/motor/fake/) | A model for testing, with no physical hardware. |
| [`gpio`](https://docs.viam.com/reference/components/motor/gpio/) | Supports standard brushed or brushless DC motors. |
| [`gpiostepper`](https://docs.viam.com/reference/components/motor/gpiostepper/) | Supports stepper motors driven by basic GPIO-controlled stepper driver chips. |

## Micro-RDK models

The following motor models ship with the [Micro-RDK](https://docs.viam.com/reference/device-setup/setup-micro/):

| Model | Description |
| --- | --- |
| [`gpio`](https://docs.viam.com/reference/components/motor/micro-rdk/gpio/) | — |