DAMIAO DM-J10422P-2EC V1.1 Motor Instruction Manual

DAMIAO DM-J10422P-2EC V1.1 Motor User Guide

DAMIAO DM-J10422P-2EC Motor

DAMIAO DM-J10422P-2EC Motor: High-performance,High-precision hollow planetary joint motor. Peak Torque 400N.m. For quadrupeds, humanoids & exoskeletons.

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Safety Precautions

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

Motor Features

Dual encoders provide single-turn absolute position feedback at the output shaft, ensuring position information is retained even after power loss.
Integrated motor and driver design offers compact structure with high integration.
Supports PC-based configuration, monitoring, and firmware upgrades.
Supports CAN FD, with a maximum baud rate of 5Mbps.
Provides real-time feedback of motor Velocity, position, torque, and temperature via CAN bus.
Features dual temperature protection mechanisms.
Low-speed, high-torque performance.
Multiple control modes with flexible switching.

Specifications

Please operate the motor within the specifications listed below.

Type	Characteristic Parameters	DM-J10422P-2EC
Motor parameters	Rated Voltage	48V
	Rated Phase / Supply Current	44.5A/27.5A
	Peak Phase / Supply Current	165.0A/48.9A
	Rated Torque	100.0Nm
	Peak Torque	400.0Nm
	Rated speed	100rpm
	Maximum No-Load Speed	120rpm
Motor Characteristic Values	Slots	36
	Reduction Ratio	1: 22
	Number of Pole Pairs	16
	Phase Inductance	38uH(@25℃ )
	Phase Resistance	81mΩ(@25℃ )
Structure and Weight	Through-hole diameter	12mm
	Outer Diameter	110mm
	Height	89.9mm
	Weight	~ 2700g
Encoder	Encoder Resolution	17 bits
	Number of Encoders	2
	Encoder accuracy	±0.03°
Communication Method	Control interface	CAN@5Mbps(Max)
	Configuration Interface	UART@921600bps
Control and Protection	Control Mode	MIT Mode
		Velocity Mode
		Position Mode
		Force-Position Hybrid Control Mode
	Protection	Drive over-temperature protection: shutdown at 120° C; the motor exits Enable Mode when triggered.
		Motor over-temperature protection (configurable, recommended ≤ 100° C),Setting above 110° C may burn the winding); the motor exits Enable Mode when triggered.
		Over-voltage protection(configurable, recommended ≤ 65V); exits Enable Mode when triggered.
		Communication Loss Protection: the motor exits Enable Mode if no CAN command is received within the specified timeout period.
		Over-current protection (configurable, recommended ≤ 0.98); exits Enable Mode when triggered.
		Under-voltage protection: the motor exits Enable Mode if supply voltage falls below the threshold (recommended ≥ 20V).

Operating Voltage

The operating voltage range for the driver is 24V to 48V. Hot-swapping is not recommended above 36V. The minimum operating voltage is 20V, and the maximum operating voltage is 54V.

Maximum Phase Current

The maximum phase current of the driver can be obtained from the startup serial output:

The maximum phase current percentage can be limited by setting a percentage in the configuration tool. The default value is 0.8 (i.e., 80% of the measurable maximum current). It is recommended that this value not exceed 98%.

Encoder Version

The encoder version can be checked via serial output during power on.

isensor: Rotor-side encoder
osensor: Output shaft encoder
app: Application firmware version
boot: Bootloader version

Maximum Rotational Speed

The maximum rotational speed is limited by multiple factors, including the power supply voltage (VBUS), rotor flux linkage (ψf), and gear ratio (GR). An upper limit can typically be calculated using the following formula:

V_{MAX}(rad/s) = 0.57735 * \frac{V_{BUS}}{N_{pp} \times GR \times \psi_f} (rad/s)

where VBUS is the supply voltage, Npp is the number of pole pairs, and ψf is the rotor flux linkage.

Torque Constant

The torque constant of the motor can be considered constant within its rated range. With a gearbox, it can be calculated using the following formula:

K_{t} = 1.5 * N_{pp} * \psi_f * GR * GREF

Where Npp is the number of pole pairs, ψf is the rotor flux linkage, GR is the gear ratio, and GREF is the gearbox torque transmission coefficient.

Torque–Speed (T–N) Curve

The following curve shows the measured performance at 48 V and an ambient temperature of 25° C:

Packing List

Motor (with integrated driver) ×1
Power cable : XT60 male to female cable (200mm) ×1
CAN interface: GH1.25 2-Pin Cable (reverse-side connector, 300mm) ×1
Debug serial cable: GH1.25 3-pin cable (reverse-side connector,300mm) ×1

Interface & Pin Description

Interface / Pin No.	Instruction
CAN Communication Interface	Connect external controller via the CAN communication interface to receive CAN control commands and transmit motor status feedback.Recommend connector: JST-GHR-2PIN (GH1.25).

Interface / Pin No.	Instruction
LED status	Solid red: Disabled mode; Solid green: Enabled mode; Flashing red: Fault condition (refer to feedback frame for details); Flashing green: Power-on self-test failed.

Interface / Pin No.	Instruction
Power Interface	Connect the power supply using the XT60 male-to-female cable. The rated voltage is 48V(supports 24–48 V).Recommend connector: XT60H-F.

Interface / Pin No.	Instruction
Debug Serial Interface	Connect to a PC via the GH1.25 3-pin cable using a USB-to-CAN adapter (or USB-to serial module) for parameters configuration and firmware upgrades. Recommend connector: JST-GHR-3PIN (GH1.25).

Interface / Pin No.	Instruction
Terminal Resistor Switch	The motor is equipped with a terminal resistor, disabled by default.

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Note:

Ensure correct connector orientation during installation and removal.
Do not reverse the power connection.
Avoid excessive force (e.g., pulling, crushing, or impact).
Improper handling may result in connector damage or motor failure.

Motor Dimensions and Mounting

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

LED Status

Normal Status	Solid Green	Enable Mode (ERR = 1), normal operation
	Solid Red	Disable Mode (ERR = 0)（Default state after power-on）
Fault Status	Flashing Red	Fault codes and fault conditions: 2 – Rotor-side encoder not detected ; 3 – Output shaft calibration error; 4 – Sensor output error; 5 – Motor encoder calibration error; 8 – Over-voltage; 9 – Under-voltage; A – Over-current; B – MOS over-temperature; C – Motor winding over-temperature; D – Communication loss; E – Overload; Fault conditions can be identified via the feedback frames or displayed in the the Damiao configuration software.

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).

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Note:

When controlling position, kd must not be set to zero, as this may cause motor oscillation or even loss of control.
In this mode, the current loop response speed can be improved by increasing the current loop band width.

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.

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Note: The units of p_des and v_des are rad and rad/s respectively, and both are of type float. The damping factor must be set to a non-zero positive value.Refer to the notes for velocity mode.

Velocity Mode

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

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Note: The unit of v_des is rad/s and its data type is float. To use the automatic parameter calculation function of the debugging assistant, the damping factor must be set to a positive non-zero number. Typically, its value ranges from 2.0 to 10.0. A damping factor that is too small will cause velocity oscillations and large overshoot, while a damping factor that is too large will result in a long rise time. The recommended setting value is 4.0.

Force-Position Hybrid Mode

The force-position hybrid control mode is based on position-velocity control, with additional torque adjustment. Allows control of both position and output torque at the same time. See block diagram below.

A current command saturation stage is added after the velocity loop output command. This limits the current loop reference within the specified range.

Mode Switching

Mode switching can be configured via the host PC over a serial port. Simply select the desired mode and click "Write Parameters". After successful configuration using this method, the motor will automatically reset, and the mode will be stored inside the motor driver without being lost after power cycling.

Alternatively, modification can be changed via the CAN interface by updating the mode register. For details, refer to the "Mode Switching" section in the next chapter.

When using the CAN method, the motor will not reset, but the following five variables will be cleared to zero:

Position command value
Velocity command value
Torque command value (MIT mode)
kp (MIT mode)
kd (MIT mode)

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Note: If the "Save Parameters" command is not issued, the mode will not be stored. It will be lost after power loss and will load the last saved mode upon power-up.

CAN communication

After calibration, parameter identification, and parameter configuration are completed, the motor is ready for operation.

Control is performed using CAN standard frames (STD). The default baud rate is 1 Mbps, which can be modified via commands. Refer to the "CAN Baud Rate" section for details.

Frame Types:

CAN communication is divided into two types:

Command Frames

Frames received by the driver, used to send control commands to the motor.

Feedback Frames

Frames transmitted by the driver to the upper-level controller, containing motor status data.

Feedback Mechanism:

Feedback operates in a request-response manner. When the driver receives a CAN frame whose ID matches the configured motor CAN ID:

The lower 8 bits are used for validation.
The upper 3 bits are ignored.

Once a match is detected, the driver will transmit the current motor status to the CAN bus.

Frame Format:

The command frame format and frame ID vary depending on the selected control mode. The feedback frame format remains the same across all control modes.

CAN Baud Rate Configuration

The CAN baud rate can be configured in two ways:

Configuration via Serial Interface,.

The baud rate can be set through the host PC software via the serial interface.

Select the desired baud rate.
Click "Write Parameters" to apply.

After the setting is successfully written:

The motor will automatically reboot.
The baud rate will be stored in the driver.
The setting will persist after power cycling.

Configuration via CAN Interface The baud rate can also be modified via the CAN interface by writing to the corresponding baud rate register. See "CAN Baud Rate" in this chapter for details.

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Note: When modifying the baud rate via CAN, the operation may fail if multiple devices are present on the bus.

Use this method with caution. It is strongly recommended to configure the baud rate before connecting multiple devices.

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:

Feedback Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
MST_ID	ID\|ERR<<4	POS[15:8]	POS[7:0]	VEL[11:4]	VEL[3:0] \| T[11:8]	T[7:0]	T_MOS	T_Rotor

Where:

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

0 – Disabled（Default state after power-on）

1 — Enabled

2 — Rotor-side encoder not detected

3 — Output shaft encoder not detected

5 — Encoder read error

7 — Encoder read error

8 — Over-voltage

9 — Under-voltage

A — Over-current

B — MOSFET over-temperature

C — Motor coil over-temperature

D — Communication loss

E — Overload

POS : Motor position
VEL : Motor velocity
T : Motor torque
T_MOS : Average MOSFET temperature on the driver (℃ )
T_Rotor : Average motor coil temperature (℃ )

Position, velocity, and torque are are converted from floating-point data to signed fixed-point data using a linear mapping:

Position: 16-bit signed fixed-point representation.
Velocity: 12-bit signed fixed-point representation.
Torque: 12-bit signed fixed-point representation.

See the figures below:

Position linear mapping

Velocity linear mapping

Torque Linear Mapping

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Note:

After power-on, the reported position is limited to the range [-π, π] rad.
The unit of position is rad (radians), representing the output shaft position (after gear reduction). All references to position below follow this definition.
The unit of velocity is rad/s, representing the output shaft velocity (after gear reduction). All references to velocity below follow this definition.
The unit of torque is Nm, representing the output shaft torque (after gear reduction). All references to torque below follow this definition.

Control Frame in MIT Mode

Control Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
ID	p_des [15:8]	p_des [7:0]	v_des [11:4]	v_des[3:0] \| Kp[11:8]	Kp [7:0]	Kd [11:4]	Kd[3:0] \| t_ff[11:8]	t_ff[7:0]

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

MIT commands are transmitted by linearly scaling floating-point values into integer representations. The driver converts the received integers back into floating-point values using the same scaling. Two conversion functions are used: float_to_uint, uint_to_float.

Conversion Method:

float uint_to_float(int x_int, float x_min, float x_max, int bits)
{
	/// converts unsigned int to float, given range and number of bits ///
	float span = x_max - x_min;
	float offset = x_min;
	return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
}

int float_to_uint(float x, float x_min, float x_max, int bits)
{
	/// Converts a float to an unsigned int, given range and number of bits ///
	float span = x_max - x_min;
	float offset = x_min;
	return (int) ((x-offset)*((float)((1<<bits)-1))/span);
}

The conversion requires predefined minimum and maximum values for each variable, which can be configured on the parameter setting page. Default ranges: KP: 0.0 ~ 500.0, KD: 0.0 ~ 5.0.

Position, velocity, and torque are preset to ±12.566, ±20, and ±500. These values can be adjusted according to the motor specifications. When sending control commands, the scaling ranges must remain consistent with the configured values.

Control Frame in Position-Velocity Mode

Control Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x100+ID	p_des				v_des

Frame ID: equals the configured CAN ID plus an offset of 0x100.
p_des: Desired position, float type, little-endian (low byte first, high byte last).
v_des: Desired velocity, float type, little-endian (low byte first, high byte last).

The CAN ID used to send commands here is 0x100 + ID. The velocity defines the maximum allowable velocity during operation.

Control Frame in Velocity Mode

Control Message	D[0]	D[1]	D[2]	D[3]
0x200+ID	v_des

Frame ID: equals the configured CAN ID plus an offset of 0x200.
v_des: Desired velocity, float type, little-endian (low byte first, high byte last).

The CAN ID used to send commands here is 0x200 + ID.

Control Frame in Force-Position Hybrid Control Mode

Control Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x300+ID	p_des				v_des		i_des

P_des: Desired position, in radians, float type, little-endian (low byte first, high byte last).
V_des: Velocity limit, in rad/s, scaled by 100, unsigned 16-bit, little-endian (low byte first, high byte last). Valid range: 0-10000. Values exceeding 10000 are capped at 10000, corresponding to an actual velocity limit range of 0-100 rad/s.
I_des: Torque current limit (per-unit), scaled by 10000, unsigned 16-bit type, little-endian (low byte first, high byte last). Valid range: 0-10000. Values exceeding 10000 are capped at 10000, corresponding to an actual current limit amplitude of 0-1.0.
Per-unit current: Actual current divided by the maximum phase current.

Enable

After power-up self-test, an "Enable" command must be sent to allow motor control. The "Enable" frame is a control frame, with the frame ID as described above. The data payload is identical across all modes as follows:

D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFC

Disable

The default power-on state of the motor is "Disable." In this state, the three-phase terminal voltages are identical, each being a 50% modulation of the power supply voltage. The "Disable" frame is a control frame, with the frame ID as described above. The data payload is defined as follows:

D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFD

Set Zero Position

The "Set Zero Position" frame is a control frame. This command sets the current output shaft position as the zero reference and resets the position command value to 0. The frame ID follows the definition above, and the data payload is defined as follows:

D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFE

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Note: For safety reasons, it is recommended to perform this operation in Disabled Mode.

Clear Faults

When faults such as overheating, sending a "Clear" can be sent to reset the fault state. The "Clear" frame is a control frame. The frame ID follows the definition above, and the data payload is defined as follows:

D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFF	0xFB

Read parameters

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]
0x7FF	STD	CANID_L	CANID_H	0x33	RID

RID represents the register address; refer to the "Register Map" section for details in this manual.

Upon successful read, the value of the register is returned. The frame format is as follows:

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
MST_ID	STD	CANID_L	CANID_H	0x33	RID	data

The data is either a floating-point value or an unsigned integer, occupying 32 bits (4 bytes) in total.

The least significant bit is D4, and the most significant bit is D7. The same convention applies below.

Write parameters

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x7FF	STD	CANID_L	CANID_H	0x55	RID	data

RID is defined as above. Upon successful write, the written value is returned. The frame format is identical to the transmitted frame.

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
MST_ID	STD	CANID_L	CANID_H	0x55	RID	data

Writing register data takes effect immediately but are not stored; They will be lost upon power-off unless a "Save Parameters" command is issued to store them in internal memory

Save parameters

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]
0x7FF	STD	CANID_L	CANID_H	0xAA	0x01

Upon successful execution, the return frame format is:

Message ID	Attribute	D[0]	D[1]	D[2]	D[3]
MST_ID	STD	CANID_L	CANID_H	0xAA	0x01

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【Note】:

The "Save Parameters" command is only effective in Disabled Mode.
All parameters are stored simultaneously during this operation.
This operation writes parameters to the on-chip flash memory. The maximum execution time is 30ms; please allow sufficient time.
The flash memory supports approximately 10,000 erase/write cycles. Avoid frequent execution of the "Save Parameters" command.

Mode Switching

Multiple control modes are supported and can be switched as follows:

Encoding	Mode
1	MIT
2	Position-Velocity Mode
3	Velocity Mode
4	Force-Position Hybrid Control Mode

The mode can be changed by modifying the mode register (0x0A). During switching, the motor resets all command values to zero, including position, velocity, and torque feed-forward, KP, and KD in MIT mode.

When switching to a position control mode, to avoid impact, it is recommended to first read the precise position (value in register 0x50) and perform the switch when the motor is at zero speed whenever possible.

Mode changes are not saved to flash memory and will be lost after power-off. Upon restart, the motor loads the last mode stored in flash.

CAN Baud Rate Configuration

By writing specific value to the baud rate register (address 0x23), the current CAN communication baud rate can be modified. Supported baud rates are listed below:

Encoding	Baud Rate
0	125K
1	200K
2	250K
3	500K
4	1M
5	2M
6	2.5M
7	3.2M
8	4M
9	5M

Baud Rate Switching Behavior:

After a successful update, the driver first transmits feedback using the original baud rate and then switch to communication using the new baud rate.

Baud Rate Handling at Power-Up:

At power-up, the driver determines the communication mode based on the stored baud rate.

If the stored baud rate exceeds 5Mbps, the baud rate is reset to 1Mbps by default.
If the baud rate is greater than 1 Mbps (excluding 1 Mbps), the driver operates in CAN FD mode.
If the baud rate is ≤ 1 Mbps, the driver operates in CAN 2.0B mode.

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CAN FD Compatibility Note: A motor configured in CAN FD mode can still receive CAN 2.0B data frames. However, feedback frames are transmitted using CAN FD. As a result, if the upper-level controller only supports CAN 2.0B, it will not receive feedback data, the driver may continuously report communication errors.

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Recovery Note: For controllers operating in CAN 2.0B mode, even if the CAN ID is incorrectly configured, the baud rate can still be restored by sending a baud rate configuration command.

Register Map

Address(HEX)	Address(DEC)	Variable	Description	R/W	Range	Type
0x00	0	UV_Value	Undervoltage Threshold	RW	(10.0,fmax]	float
0x01	1	KT_Value	Torque Constant	RW	[0.0,fmax]	float
0x02	2	OT_Value	Over-temperature Threshold	RW	[80.0,200)	float
0x03	3	OC_Value	Overcurrent Threshold	RW	(0.0,1.0)	float
0x04	4	ACC	Acceleration	RW	(0.0,fmax)	float
0x05	5	DEC	Deceleration	RW	[-fmax,0.0)	float
0x06	6	MAX_SPD	Max Velocity	RW	(0.0,fmax]	float
0x07	7	MST_ID	Master ID	RW	[0,0x7FF]	uint32
0x08	8	ESC_ID	Command CAN ID	RW	[0,0x7FF]	uint32
0x09	9	TIMEOUT	Timeout Threshold	RW	[0,2^32-1]	uint32
0x0A	10	CTRL_MODE	Control Mode	RW	[0,4]	uint32
0x0B	11	Damp	Viscous Damping	RO	/	float
0x0C	12	Inertia	Rotor Inertia	RO	/	float
0x0D	13	hw_ver	Reserved	RO	/	uint32
0x0E	14	sw_ver	Firmware Version	RO	/	uint32
0x0F	15	SN	Reservd	RO	/	uint32
0x10	16	NPP	Number of Pole Pairs	RO	/	uint32
0x11	17	Rs	Phase Resistance	RO	/	float
0x12	18	Ls	Phase Inductance	RO	/	float
0x13	19	Flux	Flux Linkage	RO	/	float
0x14	20	Gr	Gear Reduction Ratio	RO	/	float
0x15	21	PMAX	Position Mapping Range	RW	(0.0,fmax]	float
0x16	22	VMAX	Velocity Mapping Range	RW	(0.0,fmax]	float
0x17	23	TMAX	Torque Mapping Range	RW	(0.0,fmax]	float
0x18	24	I_BW	Current-loop Bandwidth	RW	[100.0,1.0e4]	float
0x19	25	KP_ASR	Velocity Loop Kp	RW	[0.0,fmax]	float
0x1A	26	KI_ASR	Velocity Loop Ki	RW	[0.0,fmax]	float
0x1B	27	KP_APR	Position Loop Kp	RW	[0.0,fmax]	float
0x1C	28	KI_APR	Position Loop Ki	RW	[0.0,fmax]	float
0x1D	29	OV_Value	Overvoltage Threshold	RW	TBD	float
0x1E	30	GREF	Gear Torque Efficiency	RW	(0.0,1.0]	float
0x1F	31	Deta	Velocity Loop Damping Coefficient	RW	[1.0,30.0]	float
0x20	32	V_BW	Velocity Loop Filter Bandwidth	RW	(0.0,500.0)	float
0x21	33	IQ_c1	Iq Gain	RW	[100.0, 1.0e4]	float
0x22	34	VL_c1	Velocity Loop Gain Factor	RW	(0.0,1.0e4]	float
0x23	35	can_br	CAN Baud Rate	RW	[0,9]	uint32
0x24	36	sub_ver	Sub-version	RO	/	uint32
0x25	37	Boot_ver	Boot version number	RO	/	uint32
0x36	54	x_off	Output shaft angle offset	RO	/	float
0x37	55	dir	Direction	RO	/	float
0x38	56	m_off	Motor-side angle offset	RO	/	float
0x3B	59	IBase	Phase current reference peak value	RO	/	float
0x3C	60	VBus	Bus Voltage	RO	/	float
0x3D	61	TMOS	MOS temperature	RO	/	float
0x3E	62	T_CEL	Motor coil temperature	RO	/	float
0x3F	63	I_U_OFF	Phase U Current Offset	RO	/	float
0x40	64	I_V_OFF	Phase V Current Offset	RO	/	float
0x41	65	I_W_OFF	Phase W Current Offset	RO	/	float
0x50	80	p_m	Motor Position	RO	/	float
0x51	81	xout	Output Shaft Position	RO	/	float

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Note:

RW: Read/Write.
RO: Read-only.

Host Computer Guide

DAMIAO Host Computer User Manual

DAMIAO DM-J10422P-2EC Motor

DAMIAO DM-J10422P-2EC Motor: High-performance,High-precision hollow planetary joint motor. Peak Torque 400N.m. For quadrupeds, humanoids & exoskeletons.

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