DAMIAO DM-G6220 Motor Instruction Manual

DAMIAO DM-G6220 Motor User Guide

DAMIAO DM-G6220 Motor

DAMIAO DM-G6220: 1.3N·m rated, 2.7N·m peak torque. Hollow-shaft servo motor with built-in drive & encoder. For quad/humanoid robots & exoskeletons.

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Safety Precautions

1. Operate the motor strictly within the specified environmental conditions and maximum winding temperature limits. Failure to do so may result in permanent damage.
2. Prevent foreign objects from entering the rotor. Otherwise, abnormal operation may occur.
3. Inspect all components before use. Do not operate the motor if any components are missing, wom, or damaged.
4. Ensure correct wiring and proper, secure motor installation.
5. Do not touch the rotating or energized parts during operation to avoid injury. High torque operation may generate heat. Avoid contact to prevent burns.
6. Do not disassemble the motor. Unauthorized disassembly may affect control accuracy or cause malfunction.

Motor Features

1. The motor features a hollow design, which facilitates cable routing and reduces the weight of the unit.
2. Integrated design of motor and driver, compact structure, and high integration.
3. Supports host computer visual debugging and firmware upgrade.
4. Provides real-time feedback of motor Velocity, position, torque, and temperature via CAN bus.
5. Features dual temperature protection mechanisms.

For the 48V version, at a constant speed of 120 rpm and room temperature of 25°C, the measured performance curve is shown below:

Packing List

1. Motor (with integrated driver) ×1
2. Power cable: XT30 male-to-female cable (200 mm) × 1
3. CAN interface: GH1.25 2-Pin Cable (300mm，Different planes) × 1
4. Debug serial cable: GH1.25 3-pin cable (300mm，Different planes) × 1

Interface & Pin Description

Motor Dimensions and Mounting

Please install the motor onto the target equipment according to the motor mounting hole dimensions and layout.

Operating Modes

MIT Mode

The MIT mode is compatible with the standard MIT control method, enabling seamless switching while allowing flexible configuration of control limits (P_MAX, V_MAX, T_MAX).

CAN commands are converted into torque values. The torque is then used as the reference for current control. See block diagram below.

Based on the MIT model, various control strategies can be derived. For instance, when kp = 0 and kd ≠ 0, a constant rotational speed can be achieved by setting v_des. When kp = 0 and kd = 0, a torque output is applied directly by setting t_ff (feedforward torque).

Position-Velocity Mode

This mode uses three control loops: position, velocity, and current(torque). The position loop sets the target for the velocity loop. The velocity loop then sets the target for the current loop. See block diagram below.

p_des represents the target position, while v_des limits the maximum absolute velocity during motion.

When tuned using recommended parameters from the configuration tool, this mode provides high accuracy and smooth motion, at the cost of slower response time.

In addition to v_des, acceleration and deceleration can also be configured. If additional oscillations occur, increasing acceleration/deceleration may help stabilize the system.

Velocity Mode

This mode keeps the motor running at the target velocity. See block diagram below.

Usage

The control uses the CAN standard frame format with a fixed baud rate of 1 Mbps. Based on functionality, the frames can be divided into receive frames and feedback frames. The receive frames are the control data received, used to achieve command control of the motor. The feedback frames are the motor's status data sent by the motor to the higher-level controller. Depending on the selected mode of the motor, the frame format definition and frame ID of the receive frames vary, but the feedback frames are the same across all modes.

Feedback Frame

The feedback frame ID is set via the configuration tool (Master ID), with a default value of 0. It primarily reports the motor position, velocity, and torque with the frame format defined as follows:

Where:

1. ID: Controller ID, using the lower 8 bits of CAN_ID
2. ERR : Status code, with the following meanings

1. POS : Motor position
2. VEL : Motor velocity
3. T : Motor torque
4. T_MOS : Average MOSFET temperature on the driver (℃ )
5. T_Rotor : Average motor coil temperature (℃ )

Position, velocity, and torque use a linear mapping relationship to convert floating-point data into signed fixed-point data. Position uses 16-bit data, while velocity and torque both use 12-bit data.

Control Frame in MIT Mode

• Frame ID: Equals the configured CAN ID
• p_des: Desired position
• v_des: Desired velocity
• Kp: Position proportional gain
• Kd: Position derivative gain
• T_ff: Feedforward torque

All parameter follows the mapping rules described in the previous section. The ranges for p_des, v_des, and t_ff can be configured via the configuration tool. Kp range: [0,500], Kd range: [0,5].

A standard CAN frame contains 8 bytes. In MIT mode, the control command packs Position, Velocity,Kp, Kd, and Torque into these 8 bytes:

• Position: 16 bits (2 bytes)
• Velocity: 12 bits
• Kp: 12 bits
• Kd: 12 bits

Control Frame in Position-Velocity Mode

• Frame ID: equals the configured CAN ID plus an offset of 0x100.
• p_des: Position command, float, little-endian (low byte first, high byte last)
• v_des: Velocity command, float, little-endian (low byte first, high byte last)

In this mode, the CAN ID used to send commands is 0x100 + ID. The velocity command (v_des) defines the maximum speed during the movement to the target position—i.e., the speed during the constant-velocity phase.

Control Frame in Velocity Mode

• Frame ID: equals the configured CAN ID plus an offset of 0x200.
• v_des: Velocity reference value, floating point, little-endian (low byte first, high byte last).

The CAN ID for sending the command here is 0x200 + ID.

Specifications

Please use the motor properly according to the following parameters.

Host Computer Guide

DAMIAO DM-G6220 Motor

DAMIAO DM-G6220: 1.3N·m rated, 2.7N·m peak torque. Hollow-shaft servo motor with built-in drive & encoder. For quad/humanoid robots & exoskeletons.

aifitlab.com

On this page

• DAMIAO DM-G6220 Motor Instruction Manual
• Safety Precautions
• Motor Features
• Packing List
• Interface & Pin Description
• Motor Dimensions and Mounting
• Operating Modes
• MIT Mode
• Position-Velocity Mode
• Velocity Mode
• Usage
• Feedback Frame
• Control Frame in MIT Mode
• Control Frame in Position-Velocity Mode
• Control Frame in Velocity Mode
• Specifications
• Host Computer Guide