DAMIAO DM-J10010-2EC V1.0 Motor Instruction Manual

DAMIAO DM-J10010-2EC V1.0 Motor User Guide

DAMIAO DM-J10010-2EC Motor

DAMIAO DM-J10010-2EC: 150N·m high-performance MIT-compatible brushless servo robotic joint motor. For quadrupeds, humanoids & exoskeletons.

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Precautions

1. Please strictly operate the motor within the specified working environment and the maximum allowable winding temperature range. Failure to do so may result in permanent and irreversible damage to the product.
2. Prevent foreign objects from entering the rotor; otherwise, abnormal rotor operation may occur.
3. Before use, check whether all components are intact. Do not use the product if any parts are missing, aged, or damaged.
4. Ensure correct wiring and that the motor is installed properly and securely.
5. Do not touch the electronic rotor section during operation to avoid accidents. The motor may become hot during high-torque output; be cautious to prevent burns.
6. Users must not disassemble the motor without authorization, as this may affect control accuracy or lead to abnormal operation.

Motor Features

1. Dual encoders provide single-turn absolute position output on the output shaft, retaining position data even in the event of power loss.
2. Integrated motor and driver design with a compact and highly integrated structure.
3. Supports upper-computer visual debugging and firmware upgrades.
4. Capable of providing feedback on motor speed, position, torque, and temperature via CAN bus.
5. Equipped with dual temperature protection.
6. Supports trapezoidal acceleration and deceleration in position control mode.

Packing List

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

Interface & Pin Description

Motor Dimensions and Mounting

Please refer to the motor mounting hole dimensions and positions to install the motor onto the corresponding equipment.

Indicator Light Status

Operating Modes

MIT Mode

MIT mode is designed to be compatible with the original MIT mode. It allows seamless switching while enabling flexible configuration of control ranges (P_ MAX, V_MAX, T_MAX). The ESC converts received CAN data into control variables to calculate the torque value, which serves as the current reference for the current loop. The current loop then regulates to achieve the specified torque current. The control block diagram is as follows:

Derived from the MIT mode, various control modes can be implemented. For example: When kp = 0 and kd ≠ 0, setting v_des enables constant speed rotation; When kp = 0 and kd = 0, setting t_ff enables constant torque output.

Position-Velocity Mode

The position cascade mode adopts a three loop series control mode, where the position loop serves as the outermost loop and its output serves as the given value for the velocity loop, while the output of the velocity loop serves as the given value for the inner loop current loop, used to control the actual current output. The control schematic diagram is shown in the following figure:

p_des is the target position for control, and v_des is used to limit the maximum absolute velocity during motion.

When the position cascade mode is controlled using the recommended control parameters from the debugging assistant, it can achieve good control accuracy. The control process is relatively smooth, but the response time is comparatively longer. In addition to v_des, the configurable related parameters also include acceleration/deceleration settings. If additional oscillations occur during the control process, increasing the acceleration/deceleration can help mitigate them.

Velocity Mode

Velocity mode allows the motor to run steadily at the set speed. The control block diagram is as follows:

Usage

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

Feedback Frame

The feedback frame ID is set via the debugging assistant (MasterID), with a default value of 0. It primarily returns information about the motor’s position, speed, and torque. The frame format is defined as follows:

Where:

1. ID indicates the controller ID, taking the lower 8 bits of the CAN_ID.
2. ERR indicates a fault, with the corresponding fault types as follows:

0 – Disabled（Default state after power-on）

1 – Enabled

8 — Overvoltage

9 — Undervoltage

A — Overcurrent

B — MOS overtemperature

C — Motor coil overtemperature

D — Communication loss

E — Overload

3. POS indicates the position information of the motor.
4. VEL indicates the velocity information of the motor.
5. T indicates the torque information of the motor.
6. T_MOS indicates the average temperature of the MOS on the driver, in °C.
7. T_Rotor indicates the average temperature of the motor's internal coil, in °C.

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

Control Frame in MIT Mode

Frame ID = configured CAN ID value

• p_des: Position command
• v_des: Velocity command
• Kp: Position proportional gain
• Kd: Position derivative gain
• T_ff: Torque reference value

All parameters conform to the mapping relationship described in the previous section, where the ranges of p_des, v_des, and t_ff can be configured using the debugging assistant, and the range of Kp is [0, 500] and the range of Kd is [0, 5].

A standard CAN data frame contains only 8 bytes. The MIT control command format combines five parameters — Position, Velocity, Kp, Kd, and Torque — into 8 bytes through bit-packing. Among them: Position occupies 2 bytes (16 bits), Velocity occupies 12 bits, Kp occupies 12 bits, and Kd occupies 12 bits.

Control Frame in Position-Velocity Mode

Frame ID = configured CAN ID value + 0x100

• p_des: Position command, float, little-endian (low byte first, high byte last)
• v_des: Velocity command, float, little-endian (low byte first, high byte last)

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

Control Frame in Velocity Mode

The frame ID is the set CAN ID value plus an offset of 0x200.

• v_des: Velocity reference value, floating point, little-endian (low byte first, high byte last).

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

Using the Debugging Assistant

Use the USB to CAN debugging tool to connect the motor to the PC, and perform parameter configuration and firmware upgrade via the debugging assistant.

The motor's debug serial port is connected to the PC using a GH1.25 3-pin cable.

Through the debugging assistant, you can configure motor parameters and perform firmware upgrades.

Once the serial port, CAN interface, and power interface of the motor are all properly connected, open the debugging assistant software on the PC, select the corresponding serial device, and open the serial port.

At this point, power on the motor. The serial port will output information, and the Control Mode will indicate the current drive mode.

Specifications

Please refer to the following parameters for proper motor usage:

Host Computer Guide

DAMIAO DM-J10010-2EC Motor

DAMIAO DM-J10010-2EC: 150N·m high-performance MIT-compatible brushless servo robotic joint motor. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

On this page

• DAMIAO DM-J10010-2EC V1.0 Motor Instruction Manual
• Precautions
• Motor Features
• Packing List
• Interface & Pin Description
• Motor Dimensions and Mounting
• Indicator Light Status
• Operating Modes
• MIT Mode
• Position-Velocity Mode
• Velocity Mode
• Usage
• Feedback Frame
• Control Frame in MIT Mode
• Control Frame in Position-Velocity Mode
• Control Frame in Velocity Mode
• Using the Debugging Assistant
• Specifications
• Host Computer Guide