Yahboom MD310Z20 7.4V DC Gear Motor with Encoder 1:20, 3mm D-Shaft, 450±10rpm for Robot Car

Overview

This DC gear motor with encoder is a 310-size brushed permanent-magnet motor with an all-metal gear reducer and a Hall speed encoder. It uses AB two-phase incremental Hall encoder output pulses to detect rotation direction and speed, making it suitable for smart robot cars and compact chassis builds that require speed measurement and closed-loop control.

Key Features

• Reduction ratio: 1:20 (all-metal gear reducer)
• Hall speed encoder with AB phase incremental output
• High-precision 13-line magnetic ring
• Strong magnetic anti-interference
• All metal gears
• Industrial grade stable performance
• Suitable for many vehicle chassis
• Provides tutorials and many codes (as stated in provided materials)

Specifications

Power note: The recommended power supply range for motors with 7.4V rated voltage is between 4.2~8.4V, and 7.4V is recommended.

Mechanical Dimensions (Unit: mm)

Motor size

• Motor output shaft: 3mm diameter D-shaft
• Overall length: 61.50
• Body segment lengths: 19 and 28.50
• Rear segment length shown: 10.50
• Front offset shown: 9.50
• Housing diameter shown: Ø25
• Face width shown: 27
• Angle/spacing value shown: 17
• Shaft section lengths shown: 14 and 2.50
• Diameters shown: Ø7 and Ø3
• Thread note shown: M3 Mechanical thread

Encoder Output Notes (as provided)

• The phase difference between the two signals is 90°, and the motor rotation direction can be judged according to the sequence of the two signals.
• Distance can be calculated according to the number of signal pulses per unit time and tire circumference.
• If only the number of AB-phase pulses per unit time is detected, motor speed can be measured.
• Example (1:20): single-phase output of 13 pulses per motor revolution; output shaft one revolution corresponds to (20*13*4)=1040 counts.
• Encoder lines table: Hall encoder, 13ppr; Type: Magnetic induction; Power supply: 3.3~5V; Encoder protection: With protective cover; Adapt to the microcontroller: All.

Package Options (Shipping List)

• Motor
• Motor + Bracket
• Motor + Bracket + 3mm coupling
• Motor + Bracket + Rubber tire

Optional Accessory Parameters (Unit: mm)

Rubber tire

• 48mm rubber tires
• Dimensions shown: 21.50, 18, Ø3, Ø6.50, Ø48
• Note shown: If you use the tire provided, there is no need for couplings and quick plug-in installation.

Motor fixing bracket

• Dimensions shown: 33, 33, 16, 14, 15, 8, 22, 13.25, 19.75, 17, 26.50
• Radii/diameters shown: R13.25, R5, Ø7.60, Ø17, Ø9.60
• Hole/countersink notes shown: 4 x Ø3.40 (depth/feature shown: 8.50); Ø6.60 x 90°
• Thread note shown: 4-M4 Mechanical thread
• Note shown: Motor mounting screws and chassis mounting screws are provided with the bracket option.

Hexagonal coupling

• Across flats shown: 12
• Length shown: 18
• Hole diameter shown: Ø3
• Thread note shown: M4 threaded hole
• Dimensions shown: 11.40 and 13.86

For help choosing the right package option for a specific chassis or controller, contact support@rcdrone.top or visit https://rcdrone.top/.

Applications

• Smart robot cars with high speed requirements
• Mecanum wheel car, race car, navigation and positioning car, balance car (as stated in provided materials)
• Compact chassis use: suitable for chassis structures with a width of less than 15 cm

Manuals / Resources

• Tutorial link: 310 DC Gear Motor with Encoder
• 3D models note shown: provides simple 3D model files of the motor, tires, motor brackets, and couplings.

Reference Specifications Shown for Other Encoder Motors

The provided materials also include specification tables labeled for other encoder motors (e.g., “520 encoder motor”, “L-type 520 encoder motor”, and “TT encoder motor”). These reference tables are not the MD310Z20_7.4V specifications.

• 520 encoder motor (12V): Permanent magnet brush; Output shaft: D-type eccentric shaft with 6mm diameter; Rated power: 3.6W; Encoder type: AB phase incremental Hall encoder (11 line); Motor installation width: 76mm; Applicable chassis width scenario: chassis width greater than 15cm; Single motor weight: 150g±1g. Ratios shown: 1:19 / 1:30 / 1:56 with rated torque 3.1kg*cm / 4.8kg*cm / 8.3kg*cm; Speed before deceleration 11000rpm / 12000rpm; Speed after deceleration 550rpm±10rpm / 333rpm±10rpm / 205rpm±10rpm.
• L-type 520 encoder motor (12V, 1:40): Permanent magnet brush; Output shaft: D-type eccentric shaft with 6mm; Rated torque 4.4kg*cm; Speed before deceleration 12000rpm; Speed after deceleration 300rpm±5%; Rated power 6W; Gear set reduction ratio 1:40; Encoder type AB phase incremental Hall encoder; Motor installation width 66mm; Applicable chassis width: chassis width can be less than 15cm; Single motor weight 159.2g.
• TT encoder motor (6V, 1:45): Permanent magnet brush; Output shaft: Diameter 5mm double flat shaft; Rated torque 1.2kg*cm; Speed before deceleration 16000rpm; Speed after deceleration 355rpm±5%; Rated power 1.8W; Gear set reduction ratio 1:45; Encoder type AB phase incremental Hall encoder; Motor installation width 35.95mm; Applicable chassis width: chassis width can be less than 15cm; Single motor weight 41.3g.

Details

Designed for compact robot cars, the MD310Z20 pairs a 1:20 all‑metal gearbox with an AB‑phase Hall encoder for closed‑loop speed control.

A small 310‑size brushed motor with a durable metal gear reducer and encoder feedback for reliable speed measurement.

Electrical and encoder details are summarized here, including the 3.3–5V AB‑phase encoder output via PH2.0 6‑pin connector.

Dimensioned drawings help confirm shaft size, body length, and mounting pattern before integrating into a chassis.

The built‑in Hall encoder provides A/B signals (90° phase difference) to read direction and speed on common MCUs.

Quadrature waveforms illustrate how A/B phase sequence indicates direction, while pulse counts support speed and distance calculations.

Optional wheel pairing can simplify assembly by allowing quick plug‑in installation without extra couplings.

Bracket and coupling dimensions are provided for common mounting and hub‑drive configurations.

Common application examples include small wheeled robot chassis platforms where encoder feedback improves straight‑line driving and control.

The AT8236 4-channel encoder motor driver module provides a compact board with multiple connectors for wiring several motors and encoders.

The AT8236 dual-channel motor driver module provides two outputs with screw terminals and clearly labeled control pins for straightforward wiring.

The ROS robot control board provides a compact layout with USB ports, pin headers, and multiple connectors for wiring a robot build.

A 7.4V battery feeds the motor driver while the MCU (STM32/Arduino) receives encoder pulse feedback for speed control.

The MD310Z20 DC gear motor features carbon brushes, an all-metal gearbox, a D-shaped output shaft, and a copper-wound rotor.

The 6-pin connector pinout labels motor power (M1/M2) and encoder lines (V, A, B, G) for straightforward wiring.

The Yahboom remote control app provides a function selection interface with Control, Sensor display, and Mode selection pages.

Yahboom MD310 documentation and download folders provide example code and libraries to help with setup and control.

MSPM0G3507-based motor control routines are provided alongside AT8236 2-channel and 4-channel motor drive tutorial folders.

The package includes a 310 geared motor with encoder and a 20 cm PH2.0 6-pin cable for wiring.

The MD310Z20 geared motor kit includes an encoder-equipped motor, a 20cm PH2.0 6-pin cable, and a fixing bracket with screws for mounting.

The MD310Z20 geared motor kit includes an encoder motor, PH2.0 6-pin cable (20 cm), motor fixing bracket, 3 mm coupling, and mounting screws for a tidy installation.

The MD310Z20 geared motor kit includes an encoder motor, PH2.0 6-pin cable, motor fixing bracket with screws, and a 48mm rubber tire.