Which Joint Motor is best suited for robotics applications?

Product Package Contents

• Motor (with built-in driver) ×1
• Power and CAN communication cable (XT30(2+2)-F plug) ×1
• Debugging serial signal cable (GH1.25 3-pin) ×1

Interface and Wiring Description

Power Interface-1 (with CAN Communication Terminal)

• Connect the power cable using the XT30(2+2)-F connector to supply power to the motor. The rated voltage is 24V.
• Use the CAN communication terminals to connect to an external control device, allowing the motor to receive CAN control commands and provide feedback on its status.
• The device includes two power interfaces, either of which can be used independently or in series for multiple motors, facilitating wiring.

Power Interface-2 (with CAN Communication Terminal)

• This interface functions the same as Power Interface-1 and can be used as a backup or for multiple motor connections.

Debug Serial Port-3

• Uses a GH1.25 connector (3-pin) and connects via a USB-to-CAN debugging tool (or a standard USB-to-serial module) to a PC.
• Supports motor parameter configuration and firmware upgrades via the Dabotech debugging assistant.

Motor Dimensions and Installation

Indicator Light Status

• Green Light (Steady On): Normal working state.
• Red Light (Steady On): Fault (e.g., over-voltage, under-voltage, overcurrent).
• Red Light (Flashing): Errors such as MOS over-temperature, communication loss, or overload.

Operating Modes

1. MIT Mode

• Compatible with original MIT control mode.
• Allows flexible settings for position, velocity, and torque control.
• Supports various control behaviors:
  • kp=0, kd≠0, v_des → Constant speed rotation.
  • kp=0, kd=0, t_ff → Torque-based control.
  • Caution: Setting kd=0 in position control may cause instability.

2. Position-Velocity Mode

• Implements a three-loop cascade control:
  • Outer loop: Position control (p_des)
  • Middle loop: Speed control (v_des)
  • Inner loop: Current control (torque)
• Supports trapezoidal acceleration/deceleration for smooth motion.
• Requires a nonzero positive damping factor.

3. Velocity Mode

• Maintains a stable speed based on v_des (rad/s).
• Recommended damping factor: 2.0–10.0 for optimal response time.

CAN Communication and Control

• 1Mbps Standard CAN Frame Format
• Feedback Frame Format: Encodes position, speed, and torque using linear mapping.
• Error Codes:
  • 8: Over-voltage
  • 9: Under-voltage
  • A: Overcurrent
  • B: MOS over-temperature
  • C: Motor coil over-temperature
  • D: Communication loss
  • E: Overload

Control Frames

• MIT Mode: Uses 8-byte CAN frames with Position, Velocity, Kp, Kd, and Torque data.
• Position-Velocity Mode: CAN ID: 0x100 + ID, Parameters: p_des, v_des.
• Velocity Mode: CAN ID: 0x200 + ID, Parameter: v_des.

Motor Parameters

Why Choose DM-J4310-2EC Joint Motor?

1. High Precision – Dual encoders ensure accurate position feedback.
2. Compact and Lightweight – Integrated motor and driver save space.
3. Advanced Control Modes – Supports MIT, Position-Velocity, and Velocity Modes.
4. CAN Bus Communication – Enables real-time multi-motor coordination.
5. Built-in Protection – Includes over-voltage, under-voltage, overcurrent, and over-temperature protection.
6. Easy Debugging – Supports PC-based debugging via USB-to-CAN adapter.

How to Use DM-J4310-2EC in a Robot Arm

1. Power Connection

• Connect a 24V power source using an XT30(2+2)-F plug.
• Ensure a stable power supply to avoid voltage errors.

2. CAN Communication Setup

• Connect the CAN bus to the master controller.
• Use 1Mbps CAN communication for real-time control.

3. Mounting the Motor

• Follow the mounting hole dimensions for secure installation.
• Ensure proper mechanical alignment with robot arm joints.

4. Programming and Control

• Select the appropriate control mode (MIT, Position-Velocity, or Velocity).
• Use Damiao Technology Debugging Assistant for parameter tuning.

5. Testing and Calibration

• Run initial position and velocity tests to fine-tune PID settings.
• Monitor torque and temperature feedback to prevent overheating.

6. Error Handling and Debugging

• Use indicator lights to diagnose faults.
• Check and address error codes (e.g., over-voltage, communication loss).