DAMIAO DM-JH11-2EC V1.0 Motor Instruction Manual

DAMIAO DM-JH11-2EC V1.0 Motor User Guide

DAMIAO DM-JH11-2EC Motor

DAMIAO DM-JH11-2EC High-Perf Joint Module: 10.5/7.8N.m peak torque, harmonic reducer, dual encoders. For quadrupeds, humanoids & exoskeletons.

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Safety Precautions

Strictly use the motor within the specified operating environment and maximum allowable winding temperature range; failure to do so may cause permanent and irreversible damage to the product.
Prevent foreign objects from entering the rotor interior; otherwise, abnormal rotor operation may occur.
Before use, check that all components are intact. If any part is missing, aged, damaged, etc., stop using the product.
Ensure correct wiring and that the motor is installed correctly and securely.
Do not touch the electronic rotor parts during operation to avoid accidents. The motor may heat up during high-torque output; be careful to avoid burns.
Do not disassemble the motor without authorization, as this may affect the control accuracy of the motor or even cause abnormal operation.
When using a host computer to control cyclic synchronous position, speed, or torque modes, the new host computer version 2.0.3.6 or higher is required.
Service life note: The service life of the harmonic reducer mainly depends on the wear of the wave generator bearing and the flexspline, as expressed by the formula.The theoretical service life of the reducer can be calculated using the formula:

$L_{av} = L_n \times \left( \frac{T_r}{T_{av}} \right) \times \left( \frac{N_r}{N_{av}} \right)$

Where:
Tr：is the rated torque of the reducer,
Tav ：is the actual average load torque of the reducer,
Nr：is the rated speed of the reducer,
Nav：is the actual average operating speed of the reducer,
Ln：is the design life of the reducer (theoretical value: 7000 hours).Torque overload behavior has a very serious impact on the service life of the reducer.

The harmonic reducer is a high-precision transmission component, and its flexspline and flexible bearing are extremely sensitive to load conditions. Any overload operation exceeding the rated parameters may lead to increased fatigue and shortened service life. Ensure that the harmonic joint module is used within the rated operating conditions. Damage to the flexspline or flexible bearing caused by prolonged overload or unexpected impact conditions is not covered under the company’s warranty.

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.
CAN upgrade is supported.

Specifications

Please operate the motor within the specifications listed below.

Type	Characteristic Parameters	DM-JH11-51-2EC	DM-JH11-101-2EC
Motor parameters	Rated Voltage	24V-48V	24V-48V
	Rated Phase / Supply Current	2.23A/1.19A@24V； 2.23A/0.54A@48V；	2.3A/1.0A@24V； 2.3A/0.5A@48V；
	Peak Phase / Supply Current	4.26A/4.25A@24V； 4.26A/1.85A@48V；	3.6A/2.2A@24V； 3.6A/1.0A@48V；
	Rated Torque	3.2NM	4.8NM
	Peak Torque	7.8NM	10.5NM
	Rated speed	40rpm	20rpm
	Maximum No-Load Speed	60rpm	30rpm
Motor Characteristic Values	Reduction Ratio	51 : 1	101：1
	Number of Pole Pairs	7	7
	Phase Inductance	538uH(@25℃)	538uH(@25℃)
	Phase Resistance	1.1Ω(@25℃)	1.1Ω(@25℃)
Structure and Weight	Outer Diameter	52mm	52mm
	Height	60mm	60mm
	Central hole size	8.5mm	8.5mm
	Motor Weight	345g	345g
Encoder	Encoder Resolution	17bit	17bit
	Number of Encoders	2	2
	Encoder Type	Double editor (single circle)	Double editor (single circle)
Communication Method	Control interface type	CAN@5Mbps(Max)	CAN@5Mbps(Max)
	Parameter Tuning Interface	UART@921600bps	UART@921600bps
Control and Protection	Control Mode	MIT Mode	MIT Mode
		Velocity Mode	Velocity Mode
		Position Mode	Position Mode
		Force-Position Hybrid Control Mode	Force-Position Hybrid Control Mode
		Periodic Synchronous Position Mode	Periodic Synchronous Position Mode
		Cycle Synchronization Speed Mode	Cycle Synchronization Speed Mode
		periodic synchronous torque mode	periodic synchronous torque mode
	Protection	Drive over-temperature protection: shutdown at 100° C; the motor exits Enable Mode when triggered.	Drive over-temperature protection: shutdown at 100° C; the motor exits Enable Mode when triggered.
		Motor over-temperature protection (configurable, recommended ≤ 90° C); the motor exits Enable Mode when triggered.	Motor over-temperature protection (configurable, recommended ≤ 90° C); the motor exits Enable Mode when triggered.
		Over-voltage protection(configurable, recommended ≤ 54V); exits Enable Mode when triggered.	Over-voltage protection(configurable, recommended ≤ 54V); exits Enable Mode when triggered.
		Communication Loss Protection: the motor exits Enable Mode if no CAN command is received within the specified timeout period.	Communication Loss Protection: the motor exits Enable Mode if no CAN command is received within the specified timeout period.
		Over-current protection (configurable, recommended ≤ 0.98A); exits Enable Mode when triggered.	Over-current protection (configurable, recommended ≤ 0.98A); exits Enable Mode when triggered.
		Under-voltage protection: the motor exits Enable Mode if supply voltage falls below the threshold (recommended ≥ 20V).	Under-voltage protection: the motor exits Enable Mode if supply voltage falls below the threshold (recommended ≥ 20V).

Operating Voltage

The operating voltage range of the drive is 24V to 48V. It is recommended to reduce hot-plugging when the voltage exceeds 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 currently used by the motor can be queried through the serial port print information during power-on. “isensor” represents the encoder at the motor rotor side, “osensor” represents the encoder at the output shaft side, “app” indicates the version number, and “boot” refers to the bootloader serial number.

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 usually be calculated using the formula below. During operation, the speed is limited to 2000 rpm (rotor side).

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.

Packing List

Motor (with integrated driver) ×1
Power cable (with CAN interface) : SH1.0 cable 8-pin (200mm) ×1
Debug serial cable: SH1.0 cable 3-pin (200mm) ×1

Interface & Pin Description

Interface / Pin No.	Instruction
Power + CAN Communication Terminal(1) (2)	1. Connect the power supply using an SH1.0 8-pin power cable. The rated voltage is 24V (supports 24–48V) to supply power to the motor. 2. Connect external control devices via the CAN communication terminal to receive CAN control commands and feedback motor status information.

Interface / Pin No.	Instruction
Debug Serial Interface(Port 3)	Connect using an SH1.0 3-pin cable and an intermediate adapter board (SH1.0 3-pin + 8-pin to XT30 + GH1.25). Use a USB-to-CAN debugging tool (or a general-purpose USB-to-serial module) to connect to a PC. Use the Damiao Technology Debug Assistant to configure motor parameters and perform firmware upgrades.

Interface / Pin No.	Instruction
Motor Indicator Light(5)	Red light always on: Motor is in the disabled state. Green light always on: Motor is in the enabled state. Red light flashing: Motor has reported an error. Check the feedback frame to determine the specific error type. Green light flashing: Motor power-on self-test failed. Take a screenshot of the power-on print information and contact customer service.

Interface / Pin No.	Instruction
Termination Resistor Switch(4)	The motor is equipped with a termination resistor, which is enabled by default.

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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 – Motor-side encoder not recognized 3 – Output shaft encoder not recognized 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).The electronic speed controller (ESC) converts the received CAN data into control variables and calculates a torque value, which is used as the current reference for the current loop. The current loop then follows its regulation scheme to ultimately achieve the given torque current.

(This motor features a newly added speed limiter, which prevents the motor from exceeding the maximum allowable speed.) The control block diagram is shown 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.

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: v_des is in rad/s, and the data type is float.

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.

Cyclic Synchronous Position Mode (CSP)

In this mode, absolute position preset values are sent to the controller via the fieldbus at fixed time intervals (referred to as the “cycle”). In this case, the controller no longer calculates the ramp; it simply follows the preset values to execute motion. The control block diagram is shown in the figure below.

In this mode, position commands should be issued in a gradually progressive manner. Avoid sending abrupt or sudden position commands; otherwise, motor vibration may occur (this mode has input parameter limits). Upper-level trajectory planning should be performed, and the planned trajectory should be sent to the motor incrementally.

Cyclic Synchronous Velocity Mode (CSV)

In Cyclic Synchronous Velocity Mode (CSV), the host controller periodically and synchronously sends the calculated target velocity to the servo drive. The velocity and torque regulation are executed internally by the servo drive. The control block diagram is shown in the figure below.

Cyclic Synchronous Torque Mode (CST)

In Cyclic Synchronous Torque Mode (CST), the host controller periodically and synchronously sends the calculated target torque to the servo drive. Torque regulation is executed internally by the servo drive. When the speed reaches the limit value, the drive enters the speed regulation phase. The control block diagram is shown in the figure below.

In this mode, torque commands should be issued in a gradually progressive manner. Avoid sending abrupt or sudden torque commands; otherwise, motor vibration may occur (this mode has input parameter limits). Upper-level trajectory planning should be performed, and the planned trajectory should be sent to the motor incrementally.

Mode Switching

Mode switching can be configured via the host computer using the 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.

Additionally, mode switching can also be performed via the CAN interface by modifying the content of 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

The motor can be used after completing calibration, parameter setting, and configuration. Control uses the CAN standard frame (STD) format, with a default baud rate of 1 Mbps. The baud rate can be changed using commands; refer to the CAN Baud Rate Modification section for details. Functionally, frames can be divided into receive frames and feedback frames. Receive frames are the control data received for commanding the motor. Feedback frames are the status data sent by the motor to the host controller. The feedback mechanism is query-based: whenever the drive receives a frame whose ID matches the motor’s configured CAN ID (the lower 8 bits are checked for matching, while the upper 3 bits are ignored), the drive transmits the current status data onto the bus. Depending on the selected mode of the motor, the receive frame format and frame ID vary, but the feedback frame is the same across all modes.

CAN Baud Rate Configuration

The baud rate can be modified using the host computer via the serial port. Simply select the desired baud rate and click “Write Parameter”. After successful configuration using this method, the motor will automatically reset, and the baud rate will be stored inside the motor driver. The setting will not be lost after power cycling.

Another method is to modify the baud rate via the CAN interface by writing to the baud rate register. Refer to the “CAN Baud Rate Modification” subsection in this chapter for details.

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Note: Modifying the baud rate via CAN may fail when multiple devices are present on the bus. Therefore, proceed with caution. It is strongly recommended to configure the baud rate before system integration.

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 – Motor-side encoder not recognized 3 – Output shaft encoder not recognized

5 – Motor encoder calibration 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:

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 ±12.5, ±10, and ±12. 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	p_des	p_des	p_des	v_des	v_des	v_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 command represents the maximum velocity during trapezoidal acceleration, i.e., the constant velocity segment.

Control Frame in Velocity Mode

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

Control Frame in Cyclic Synchronous Velocity-Position Mode

Control Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x400+ID	p_des	p_des	p_des	p_des	v_des	v_des	v_des	v_des

The frame ID is the configured CAN ID value plus an offset of 0x400.

p_des: Position command, floating-point type, little-endian (low byte first, high byte after).
v_des: Velocity command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x400 + ID. The velocity command is the maximum speed limit during operation.

Control Frame in Cyclic Synchronous Velocity Mode (CSV)

Control Message	D[0]	D[1]	D[2]	D[3]
0x500+ID	v_des	v_des	v_des	v_des

The frame ID is the configured CAN ID value plus an offset of 0x500.

v_des: Velocity command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x500 + ID.

Control Frame in Cyclic Synchronous Torque Mode (CST)

Control Message	D[0]	D[1]	D[2]	D[3]
0x600+ID	t_des	t_des	t_des	t_des

The frame ID is the configured CAN ID value plus an offset of 0x600.

t_des: Torque command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x600 + ID.

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

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	data	data	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	data	data	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	0x33	RID	data	data	data	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
5	Cyclic Synchronous Position Mode
6	Cyclic Synchronous Velocity Mode
7	Cyclic Synchronous Torque 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	[0,4]	uint32
0x25	37	Boot_ver	Boot Version	RO	/	uint32
0x36	54	x_off	Output shaft angle deviation	RO	/	float
0x37	55	dir	Direction	RO	/	float
0x38	56	m_off	Motor-side Angle Offset	RO	/	float
0x3C	60	VBus	Bus Voltage	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

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

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DAMIAO DM-JH11-2EC V1.0 Motor Instruction Manual
Safety Precautions
Motor Features
Specifications
Operating Voltage
Maximum Phase Current
Encoder version
Maximum Rotational Speed
Torque Constant
Packing List
Interface & Pin Description
Motor Dimensions and Mounting
LED Status
Operating Modes
MIT Mode
Position-Velocity Mode
Velocity Mode
Force-Position Hybrid Mode
Cyclic Synchronous Position Mode (CSP)
Cyclic Synchronous Velocity Mode (CSV)
Cyclic Synchronous Torque Mode (CST)
Mode Switching
CAN communication
CAN Baud Rate Configuration
Feedback Frame
Control Frame in MIT Mode
Control Frame in Position-Velocity Mode
Control Frame in Velocity Mode
Control Frame in Force-Position Hybrid Control Mode
Control Frame in Cyclic Synchronous Velocity-Position Mode
Control Frame in Cyclic Synchronous Velocity Mode (CSV)
Control Frame in Cyclic Synchronous Torque Mode (CST)
Enable
Disable
Set Zero Position
Clear Faults
Read parameters
Write parameters
Save parameters
Mode Switching
CAN Baud Rate Configuration
Register Map
Host Computer Guide

DAMIAO DM-JH11-2EC V1.0 Motor Instruction Manual

DAMIAO DM-JH11-2EC V1.0 Motor User Guide

DAMIAO DM-JH11-2EC Motor

DAMIAO DM-JH11-2EC High-Perf Joint Module: 10.5/7.8N.m peak torque, harmonic reducer, dual encoders. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

Safety Precautions

Strictly use the motor within the specified operating environment and maximum allowable winding temperature range; failure to do so may cause permanent and irreversible damage to the product.
Prevent foreign objects from entering the rotor interior; otherwise, abnormal rotor operation may occur.
Before use, check that all components are intact. If any part is missing, aged, damaged, etc., stop using the product.
Ensure correct wiring and that the motor is installed correctly and securely.
Do not touch the electronic rotor parts during operation to avoid accidents. The motor may heat up during high-torque output; be careful to avoid burns.
Do not disassemble the motor without authorization, as this may affect the control accuracy of the motor or even cause abnormal operation.
When using a host computer to control cyclic synchronous position, speed, or torque modes, the new host computer version 2.0.3.6 or higher is required.
Service life note: The service life of the harmonic reducer mainly depends on the wear of the wave generator bearing and the flexspline, as expressed by the formula.The theoretical service life of the reducer can be calculated using the formula:

$L_{av} = L_n \times \left( \frac{T_r}{T_{av}} \right) \times \left( \frac{N_r}{N_{av}} \right)$

Where:
Tr：is the rated torque of the reducer,
Tav ：is the actual average load torque of the reducer,
Nr：is the rated speed of the reducer,
Nav：is the actual average operating speed of the reducer,
Ln：is the design life of the reducer (theoretical value: 7000 hours).Torque overload behavior has a very serious impact on the service life of the reducer.

The harmonic reducer is a high-precision transmission component, and its flexspline and flexible bearing are extremely sensitive to load conditions. Any overload operation exceeding the rated parameters may lead to increased fatigue and shortened service life. Ensure that the harmonic joint module is used within the rated operating conditions. Damage to the flexspline or flexible bearing caused by prolonged overload or unexpected impact conditions is not covered under the company’s warranty.

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.
CAN upgrade is supported.

Specifications

Please operate the motor within the specifications listed below.

Type	Characteristic Parameters	DM-JH11-51-2EC	DM-JH11-101-2EC
Motor parameters	Rated Voltage	24V-48V	24V-48V
	Rated Phase / Supply Current	2.23A/1.19A@24V； 2.23A/0.54A@48V；	2.3A/1.0A@24V； 2.3A/0.5A@48V；
	Peak Phase / Supply Current	4.26A/4.25A@24V； 4.26A/1.85A@48V；	3.6A/2.2A@24V； 3.6A/1.0A@48V；
	Rated Torque	3.2NM	4.8NM
	Peak Torque	7.8NM	10.5NM
	Rated speed	40rpm	20rpm
	Maximum No-Load Speed	60rpm	30rpm
Motor Characteristic Values	Reduction Ratio	51 : 1	101：1
	Number of Pole Pairs	7	7
	Phase Inductance	538uH(@25℃)	538uH(@25℃)
	Phase Resistance	1.1Ω(@25℃)	1.1Ω(@25℃)
Structure and Weight	Outer Diameter	52mm	52mm
	Height	60mm	60mm
	Central hole size	8.5mm	8.5mm
	Motor Weight	345g	345g
Encoder	Encoder Resolution	17bit	17bit
	Number of Encoders	2	2
	Encoder Type	Double editor (single circle)	Double editor (single circle)
Communication Method	Control interface type	CAN@5Mbps(Max)	CAN@5Mbps(Max)
	Parameter Tuning Interface	UART@921600bps	UART@921600bps
Control and Protection	Control Mode	MIT Mode	MIT Mode
		Velocity Mode	Velocity Mode
		Position Mode	Position Mode
		Force-Position Hybrid Control Mode	Force-Position Hybrid Control Mode
		Periodic Synchronous Position Mode	Periodic Synchronous Position Mode
		Cycle Synchronization Speed Mode	Cycle Synchronization Speed Mode
		periodic synchronous torque mode	periodic synchronous torque mode
	Protection	Drive over-temperature protection: shutdown at 100° C; the motor exits Enable Mode when triggered.	Drive over-temperature protection: shutdown at 100° C; the motor exits Enable Mode when triggered.
		Motor over-temperature protection (configurable, recommended ≤ 90° C); the motor exits Enable Mode when triggered.	Motor over-temperature protection (configurable, recommended ≤ 90° C); the motor exits Enable Mode when triggered.
		Over-voltage protection(configurable, recommended ≤ 54V); exits Enable Mode when triggered.	Over-voltage protection(configurable, recommended ≤ 54V); exits Enable Mode when triggered.
		Communication Loss Protection: the motor exits Enable Mode if no CAN command is received within the specified timeout period.	Communication Loss Protection: the motor exits Enable Mode if no CAN command is received within the specified timeout period.
		Over-current protection (configurable, recommended ≤ 0.98A); exits Enable Mode when triggered.	Over-current protection (configurable, recommended ≤ 0.98A); exits Enable Mode when triggered.
		Under-voltage protection: the motor exits Enable Mode if supply voltage falls below the threshold (recommended ≥ 20V).	Under-voltage protection: the motor exits Enable Mode if supply voltage falls below the threshold (recommended ≥ 20V).

Operating Voltage

Maximum Phase Current

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

Encoder version

Maximum Rotational Speed

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.

Packing List

Motor (with integrated driver) ×1
Power cable (with CAN interface) : SH1.0 cable 8-pin (200mm) ×1
Debug serial cable: SH1.0 cable 3-pin (200mm) ×1

Interface & Pin Description

Interface / Pin No.	Instruction
Power + CAN Communication Terminal(1) (2)	1. Connect the power supply using an SH1.0 8-pin power cable. The rated voltage is 24V (supports 24–48V) to supply power to the motor. 2. Connect external control devices via the CAN communication terminal to receive CAN control commands and feedback motor status information.

Interface / Pin No.	Instruction
Debug Serial Interface(Port 3)	Connect using an SH1.0 3-pin cable and an intermediate adapter board (SH1.0 3-pin + 8-pin to XT30 + GH1.25). Use a USB-to-CAN debugging tool (or a general-purpose USB-to-serial module) to connect to a PC. Use the Damiao Technology Debug Assistant to configure motor parameters and perform firmware upgrades.

Interface / Pin No.	Instruction
Motor Indicator Light(5)	Red light always on: Motor is in the disabled state. Green light always on: Motor is in the enabled state. Red light flashing: Motor has reported an error. Check the feedback frame to determine the specific error type. Green light flashing: Motor power-on self-test failed. Take a screenshot of the power-on print information and contact customer service.

Interface / Pin No.	Instruction
Termination Resistor Switch(4)	The motor is equipped with a termination resistor, which is enabled by default.

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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 – Motor-side encoder not recognized 3 – Output shaft encoder not recognized 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

(This motor features a newly added speed limiter, which prevents the motor from exceeding the maximum allowable speed.) The control block diagram is shown below:

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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.

Position-Velocity Mode

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: v_des is in rad/s, and the data type is float.

Force-Position Hybrid Mode

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

Cyclic Synchronous Position Mode (CSP)

Cyclic Synchronous Velocity Mode (CSV)

Cyclic Synchronous Torque Mode (CST)

Mode Switching

Additionally, mode switching can also be performed via the CAN interface by modifying the content of 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

CAN Baud Rate Configuration

Another method is to modify the baud rate via the CAN interface by writing to the baud rate register. Refer to the “CAN Baud Rate Modification” subsection in this chapter for details.

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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 – Motor-side encoder not recognized 3 – Output shaft encoder not recognized

5 – Motor encoder calibration 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

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.

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	p_des	p_des	p_des	v_des	v_des	v_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 command represents the maximum velocity during trapezoidal acceleration, i.e., the constant velocity segment.

Control Frame in Velocity Mode

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

Control Frame in Cyclic Synchronous Velocity-Position Mode

Control Message	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x400+ID	p_des	p_des	p_des	p_des	v_des	v_des	v_des	v_des

The frame ID is the configured CAN ID value plus an offset of 0x400.

p_des: Position command, floating-point type, little-endian (low byte first, high byte after).
v_des: Velocity command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x400 + ID. The velocity command is the maximum speed limit during operation.

Control Frame in Cyclic Synchronous Velocity Mode (CSV)

Control Message	D[0]	D[1]	D[2]	D[3]
0x500+ID	v_des	v_des	v_des	v_des

The frame ID is the configured CAN ID value plus an offset of 0x500.

v_des: Velocity command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x500 + ID.

Control Frame in Cyclic Synchronous Torque Mode (CST)

Control Message	D[0]	D[1]	D[2]	D[3]
0x600+ID	t_des	t_des	t_des	t_des

The frame ID is the configured CAN ID value plus an offset of 0x600.

t_des: Torque command, floating-point type, little-endian (low byte first, high byte after).

The CAN ID for sending commands here is 0x600 + ID.

Enable

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

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

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

Clear Faults

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	data	data	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	data	data	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	0x33	RID	data	data	data	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
5	Cyclic Synchronous Position Mode
6	Cyclic Synchronous Velocity Mode
7	Cyclic Synchronous Torque Mode

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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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	[0,4]	uint32
0x25	37	Boot_ver	Boot Version	RO	/	uint32
0x36	54	x_off	Output shaft angle deviation	RO	/	float
0x37	55	dir	Direction	RO	/	float
0x38	56	m_off	Motor-side Angle Offset	RO	/	float
0x3C	60	VBus	Bus Voltage	RO	/	float
0x50	80	p_m	Motor Position	RO	/	float
0x51	81	xout	Output Shaft Position	RO	/	float

💡

Note:

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

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

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DAMIAO DM-JH11-2EC V1.0 Motor Instruction Manual
Safety Precautions
Motor Features
Specifications
Operating Voltage
Maximum Phase Current
Encoder version
Maximum Rotational Speed
Torque Constant
Packing List
Interface & Pin Description
Motor Dimensions and Mounting
LED Status
Operating Modes
MIT Mode
Position-Velocity Mode
Velocity Mode
Force-Position Hybrid Mode
Cyclic Synchronous Position Mode (CSP)
Cyclic Synchronous Velocity Mode (CSV)
Cyclic Synchronous Torque Mode (CST)
Mode Switching
CAN communication
CAN Baud Rate Configuration
Feedback Frame
Control Frame in MIT Mode
Control Frame in Position-Velocity Mode
Control Frame in Velocity Mode
Control Frame in Force-Position Hybrid Control Mode
Control Frame in Cyclic Synchronous Velocity-Position Mode
Control Frame in Cyclic Synchronous Velocity Mode (CSV)
Control Frame in Cyclic Synchronous Torque Mode (CST)
Enable
Disable
Set Zero Position
Clear Faults
Read parameters
Write parameters
Save parameters
Mode Switching
CAN Baud Rate Configuration
Register Map
Host Computer Guide