The Damiao 43-series CAN bus joint motors have been widely adopted in numerous open-source robotic arm projects such as OpenArm and I2RT. Featuring dual encoders and an integrated motor-driver design, they boast a compact structure and high integration. Comprehensive technical resources are available, including C++, Python, and ROS 1/2 support packages.
- Dual encoders: The output shaft provides single-turn absolute position feedback, eliminating the risk of absolute position loss after power failure.
- Integrated motor-driver design: Boasts a compact structure and high integration.
- Supports visual debugging via the host computer, as well as firmware upgrades.
- Can feed back motor information (such as speed, position, torque, and temperature) via the CAN bus.
- Equipped with dual-temperature protection
- Supports trapezoidal acceleration/deceleration in position mode.
Parameter | DM4310 | DM4340P |
Rated Voltage | 24V | 24V |
Rated Current | 2.5A | 2.5A |
Peak Current | 7.5A | 8A |
Rated Torque | 3NM | 9NM |
Peak Torque | 7NM | 27NM |
Rated Speed | 120rpm | 36rpm |
No-Load Max Speed | 200rpm | 52rpm |
Gear Ratio | 10: 1 | 40:1 |
Number of Pole Pairs | 14 | 14 |
Phase Inductance | 340μH | 340μH |
Phase Resistance | 650mΩ | 880mΩ |
Outer Diameter | 56mm | 57mm |
Height | 46mm | 56.5mm |
Motor Weight | Approx. 300g | Approx. 375g |
Encoder Resolution | 14 bits | |
Number of Encoders | 2 | |
Encoder Type | Magnetic Encoder (Single-turn) | |
Control Interface | CAN@1Mbps | |
Tuning Interface | UART@921600bps | |
Control Modes | MIT Mode; Speed Mode; Position Mode | |
Protection | ● Driver Over-temperature Protection: Triggers at 120°C, motor exits "Enable Mode"- Motor ● Over-temperature Protection: Recommended ≤100°C (customizable), motor exits "Enable Mode" when exceeded ● Motor Over-voltage Protection: Recommended ≤32V (customizable), motor exits "Enable Mode" when exceeded ● Communication Loss Protection: Motor exits "Enable Mode" if no CAN command is received within the set period ● Motor Over-current Protection: Recommended ≤9.8A (customizable), motor exits "Enable Mode" when exceeded ● Motor Under-voltage Protection: Motor exits "Enable Mode" if supply voltage < set value (recommended ≥15V) | |
OpenArm is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. All hardware and software are completely open-source and ready for you to build, hack, and deploy!
Ready to deploy and built on a fully open-source codebase, giving you complete transparency and customization. Designed for rapid integration, community-driven improvements, and scalable real-world applications.
6010 Motor | x1 |
XT30(2+2) | x1 |
| HSCODE | 8501310000 |
| USHSCODE | 8501316000 |
| UPC | |
| EUHSCODE | 8501109390 |
| COO | CHINA |
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