DAMIAO DM-H6215 V1.0 Motor Instruction Manual

DAMIAO DM-H6215 Motor User Guide

DAMIAO DM-H6215 Motor

DAMIAO DM-H6215: 2N·m high-performance MIT-compatible brushless servo robotic joint motor. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

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

Integrated design of motor and driver, compact structure, high integration.
Supports firmware upgrade.
Capable of providing feedback on motor speed, position, torque, and motor temperature via CAN bus.
Dual temperature protection function.
Low speed, high torque.

Packing List

Motor (including driver, power interface with 240 mm cable outlet) × 1

Interface & Pin Description

Interface / Pin No.	Instruction
Power connection interface	1. Connect the power supply via the power cable with XT30(2+2)-F connector. The rated voltage is 24V, which powers the motor. 2. Connect to external control devices via the CAN communication terminal. It can receive CAN control commands and feedback motor status information.

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).

💡

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.

💡

Note:

After power-on, the motor position is fixed at 0.0 rad.
The units of p_des and v_des are rad and rad/s respectively, and the data type is float. The damping factor must be set to a non-zero positive number. Refer to the precautions for velocity mode for further details.

Velocity Mode

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

💡

Note:

After power-on, the motor position is fixed at 0.0 rad.
The unit of v_des is rad/s, and the data type is float. If you need to use the debugging assistant to automatically calculate parameters, you must set the damping factor to a non-zero positive number. Typically, the value ranges from 2.0 to 10.0. A damping factor that is too small will cause velocity oscillation and a large overshoot, while a damping factor that is too large will result in a long rise time. The recommended setting is 4.0.

Control Protocol Description

The control uses the CAN standard frame format, with a default baud rate of 1 Mbps, which can be changed via commands. Based on functionality, frames can be divided into receive frames and feedback frames. Receive frames are the received control data used to issue commands to the motor. Feedback frames are the status data sent by the motor to the host controller. Depending on the selected mode of the motor, the definition of the receive frame format and the frame ID 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:

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

1 – Enabled

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.

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

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 for sending commands here is 0x100 + ID. The speed reference is the maximum speed allowed during motor 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.

User Manual

Motor Calibration

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x7FF	STD	CANID_L	CANID_H	0x66	0x00	xx(don't care)

After calibration is completed, the motor will actively return a calibration completion status frame. Its frame format is as follows:

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]
MST_ID	STD	CANID_L	CANID_H	0x66	0x01

Parameter Calibration

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x7FF	STD	CANID_L	CANID_H	0x99	0x00	xx(don't care)

After parameter calibration is completed, the motor will actively return a calibration completion command. Its frame format is as follows:

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]
MST_ID	STD	CANID_L	CANID_H	0x99	0x01

Read Parameter

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x7FF	STD	CANID_L	CANID_H	0x33	RID	xx(don’t care)

RID is the register address.

Register Address	Variable	Description	R/W	Data Type
0	UV_Value	Under-voltage protection value	RW	float
1	KT_Value	Torque coefficient	RW	float
2	OT_Value	Over-temperature protection value	RW	float
3	OC_Value	Over-current protection value	RW	float
4	ACC	Acceleration	RW	float
5	DEC	Deceleration	RW	float
6	MAX_SPD	Maximum speed	RW	float
7	MST_ID	Feedback ID	RW	uint32
8	ESC_ID	Receive ID	RW	uint32
9	TIMEOUT	Timeout alarm time	RW	uint32
10	CTRL_MODE	Control mode	RW	uint32
11	Damp	Motor viscous damping coefficient	RO	float
12	Inertia	Motor moment of inertia	RO	float
13	Rsv1	Reserved parameter 1	RO	uint32
14	sw_ver	Software version number	RO	uint32
15	Rsv2	Reserved parameter 2	RO	uint32
16	NPP	Number of motor pole pairs	RO	uint32
17	Rs	Motor phase resistance	RO	float
18	Ls	Motor phase inductance	RO	float
19	Flux	Motor flux linkage value	RO	float
20	Gr	Gear reduction ratio	RO	float
21	PMAX	Position mapping range	RW	float
22	VMAX	Speed mapping range	RW	float
23	TMAX	Torque mapping range	RW	float
24	I_BW	Current loop control bandwidth	RW	float
25	KP_ASR	Speed loop Kp	RW	float
26	KI_ASR	Speed loop Ki	RW	float
27	KP_APR	Position loop Kp	RW	float
28	KI_APR	Position loop Ki	RW	float
29	OV_Value	Over-voltage protection value	RW	float
30	GREF	Gear torque efficiency	RW	float
31	Beta	Speed loop damping factor	RW	float
32	V_BW	Speed loop filter bandwidth	RW	float
33	IQ_cl	Current enhancement coefficient 1	RW	float
34	VL_cl	Speed enhancement coefficient 1	RW	float
35	can_br	CAN baud rate code	RW	uint32
36	sub_ver	Sub-version number	RO	uint32
50	u_off	U-phase offset	RO	float
51	v_off	V-phase offset	RO	float
52	k1	Compensation factor 1	RO	float
53	k2	Compensation factor 2	RO	float
54	e_off	Electrical angle offset	RO	float
55	p_m	Motor position	RO	float

After a successful read, the data from the register will be returned. The frame format is as follows:

Frame 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 of floating-point type, with D[4] as the low byte and D[7] as the high byte. The same applies below.

Write Parameter

Frame 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 as described above. After a successful write, the written data will be returned, and the frame format is the same as the one sent.

Frame 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 written register data takes effect immediately but cannot be stored. It will be lost after power-off. To retain the changes, the command to store parameters must be sent, which will write all modified parameters into the internal memory.

Save Parameters

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]	D[4]	D[5]	D[6]	D[7]
0x7FF	STD	CANID_L	CANID_H	0xAA	RID	xx (don’t care)

After a successful write, the return format is as follows:

Frame ID	Attribute	D[0]	D[1]	D[2]	D[3]
MST_ID	STD	CANID_L	CANID_H	0xAA	01

Mode Switching

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

Code/ID	Mode
1	MIT
2	Position-Velocity
3	Velocity

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 from one mode to position control mode, to prevent impact, it is recommended to first read the precise position before considering the switch, and to perform the switch when the motor speed is zero.

After the mode is changed, it will not be stored in flash and will be lost after power-off. Upon re-powering, the control mode will be set to the mode last stored in flash.

Baud Rate Modification

Specific baud rate modification is supported. The currently supported baud rates are as follows:

Code	Baud Rate
0	125K
1	200K
2	250K
3	500K
4	1M

After the baud rate is modified, the CAN bus will automatically reinitialize and feedback data at the new baud rate.

Characteristic Parameters

Please use the motor properly according to the following parameters.

Type	Characteristic Parameters	Description
Motor parameters	Rated Voltage	24V
	Rated Phase / Supply Current	2.5A
	Peak Phase / Supply Current	4.3A
	Rated Torque	1NM
	Peak Torque	2NM
	Rated speed	120rpm
	Maximum No-Load Speed	320rpm
Motor Characteristic Values	Reduction Ratio	1: 1
	Number of Pole Pairs	14
	Phase Inductance	2000uH
	Phase Resistance	2.5Ω
Structure and Weight	Outer Diameter	68mm
	Height	44.5mm
	Motor Weight	360g
Encoder	Encoder Type	Hall
Communication Method	Control interface type	CAN
	Parameter Tuning Interface	CAN
Control and Protection	Control Mode	MIT Mode
		Velocity Mode
		Position Mode
	Protection	Driver over-temperature protection: Protection temperature: 120°C. If over-temperature occurs, the motor will exit the "Enable Mode".
		Motor over-temperature protection: set according to usage requirements. It is recommended not to exceed 100°C. If over-temperature occurs, the motor will exit the "Enable Mode".
		Motor overvoltage protection: set according to usage requirements. It is recommended not to exceed 32 V. If overvoltage occurs, the motor will exit the "Enable Mode".
		Communication loss protection: If no CAN command is received within the set period, the motor will automatically exit the "Enable Mode".
		Motor overcurrent protection: set according to usage requirements. It is recommended not to exceed 9.8 A. If overcurrent occurs, the motor will exit the "Enable Mode".
		Motor undervoltage protection: If the power supply voltage falls below the set value, the motor will exit the "Enable Mode". It is recommended that the power supply voltage not fall below 15 V.

DAMIAO DM-H6215 Motor

DAMIAO DM-H6215: 2N·m high-performance MIT-compatible brushless servo robotic joint motor. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

← Previous

DAMIAO DM-S3519-1EC V1.1 Motor Instruction Manual

DAMIAO DM-H3510 V1.0 Motor Instruction Manual