DAMIAO DM-J6216P-2EC Motor

Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Parameter Value Model DM-J6216P-2EC Rated Voltage 24 V (Supports 24V-48V) Rated Phase / Supply Current 20.8 A / 4.4 A @ 24 V 22 A / 5.5 A @ 48 V Peak Phase / Supply Current 36 A / 26 A @ 24 V 70 A / 40 A @ 48 V Rated Torque 10 N·m Peak Torque 45 N·m Rated Speed 200 rpm No-load Maximum Speed 260 rpm Slot Count 24 Reduction Ratio 1:16 Pole-Pair Count 10 Phase Inductance 184 μH Phase Resistance 0.16 Ω Outer Diameter 67 mm Height 62.5 mm Motor Weight Approx. 740 g Encoder Resolution 15 Bit Encoder Accuracy ±0.09 Degree Encoder Quantity 2 Control Interface CAN @ 5 Mbps (Max) Parameter-Tuning Interface UART @ 921600 bps Control Modes MIT Mode; Position-Velocity Mode; Velocity Mode; Force-Position Hybrid Control Mode Protection Drive over-temperature protection: Protection temperature: 120°C. The motor will exit "enable mode" if over-temperature occurs. Motor over-temperature protection: Set according to usage requirements; it is recommended not to exceed 100°C (setting over 110°C may burn the coils). The motor will exit "enable mode" if over-temperature occurs. Motor over-voltage protection: Set according to usage requirements; factory default is 60V, maximum setting cannot exceed 65V. It will exit "enable mode" if over-voltage occurs. Communication loss protection: If no CAN command is received within the set period, it will automatically exit "enable mode". The motor will exit enable mode if continuous stalling occurs. Motor over-current protection: Set according to usage requirements; it is recommended not to exceed 0.98. It will exit "enable mode" if over-current occurs. Motor under-voltage protection: If the supply voltage is lower than the set value, it will exit "enable mode". The supply voltage should not be lower than 20V. DAMIAO-DM-J6216P-2EC.stp DAMIAO-DM-J6216P-2EC-Drawing.pdf