Product details

DM-J6006-2EC

Actuators & Joint Modules

Shenzhen Damao Technology Co., Ltd.

DM-J6006-2EC

About this product

DM-J6006-2EC is an integrated planetary joint motor with 4 Nm rated torque and 11 Nm peak torque in the current manufacturer table. It has a printed 6:1 reduction ratio, a 76 mm outer diameter and a 36.5 mm body height, with two 14-bit encoders and CAN control. The compact 6:1 module has a 1 Mbps CAN interface. Its page and manual differ on peak torque (11 versus 12 Nm) and over-voltage protection recommendation (52 versus 32 V); neither is silently substituted.

Model
DM-J6006-2EC
Category
Actuators & Joint Modules, Components

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Can communication-loss response

Motor disabled

Manufacturer specification

Configuration: Current official product-page protection table; Configurable watchdog interval; no numerical timeout is given in this page table.

DM-J6006-2EC official product page and embedded table
设定周期内没有收到CAN指令将自动退出“使能模式”

Can connector

GH1.25; 2pin

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual packing list; no inferred connector polarity.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
CAN 通信端子:GH1.25 连接线-2pin ×1

Can feedback encoding

Position 16 bits; velocity and torque 12 bits

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Protocol encoding widths; not physical encoder resolution or positioning accuracy.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
位置、速度和扭矩采用线性映射的关系将浮点型数据转换成有符号的定点数据,其中位 置采用16 位数据,速度和扭矩均使用12 位。

Can frame/rate

Standard frame; fixed 1 Mbps

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Applies to this exact manual revision; not generalized to newer CAN FD families.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
控制使用CAN 标准帧格式,固定波特率为1Mbps

Can telemetry

Speed, position, torque and motor temperature

Manufacturer specification

Configuration: Current official product-page description; Exact product-page prose; no update date or feedback rate inferred.

DM-J6006-2EC official product page and embedded table
可通过CAN总线反馈电机速度、位置、转矩、电机温度等信息

Control interface

CAN@1 Mbps

Manufacturer specification

Configuration: Current official product-page table; Printed maximum only where explicitly marked Max; configurable rates and protocol switching are separately source-qualified.

DM-J6006-2EC official product page and embedded table
控制接口 CAN@1Mbps

Control modes

MIT; Velocity; Position

Manufacturer specification

Configuration: Current official product-page table; Exact current table modes; mode availability may depend on firmware.

DM-J6006-2EC official product page and embedded table
控制模式 MIT模式;速度模式;位置模式

Debug uart connector

GH1.25; 3pin

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual packing list.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
调试串口信号线:GH1.25 连接线-3pin ×1

Driver over-temperature trip

120 °C

Manufacturer specification

Configuration: Current official product-page protection table; Fixed driver protection threshold; disables the motor on over-temperature.

DM-J6006-2EC official product page and embedded table
驱动过温防护,防护温度:120℃

Encoder count

2

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
编码器个数 2

Encoder resolution

14 bit

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
编码器位数 14位

Encoder type

Magnetic; single-turn

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
编码器类型 磁编(单圈)

Firmware updates

Supported

Manufacturer specification

Configuration: Current official product-page description; Exact product-page prose; no update date or feedback rate inferred.

DM-J6006-2EC official product page and embedded table
支持固件升级

Height

36.5 mm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
高度 36.5mm

Housing mounting-hole-circle diameter callout

68

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; leader-line attribution independently crosschecked. Literal linear callout only: no overall drawing unit header is printed, so no millimetres are inferred.

DM-J6006-2EC official product page and embedded table
68

Housing threaded-hole count

6

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; count read from the literal threaded-hole callout. No alternative hole pattern or product variant inferred.

DM-J6006-2EC official product page and embedded table
6

Housing threaded-hole depth callout

3.5

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; leader-line attribution independently crosschecked. Literal linear callout only: no overall drawing unit header is printed, so no millimetres are inferred.

DM-J6006-2EC official product page and embedded table
3.5

Housing threaded-hole nominal thread

M3

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; literal thread designation/class. Not an inferred length measurement.

DM-J6006-2EC official product page and embedded table
M3

Mit derivative gain range

0–5

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Protocol gain range; physical gain unit is not stated.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
Kp 的范围为[0,500],Kd 的范围为[0,5]

Mit proportional gain range

0–500

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Protocol gain range; physical gain unit is not stated.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
Kp 的范围为[0,500],Kd 的范围为[0,5]

Motor mass

335 g

Manufacturer specification

Configuration: Current official product-page table; Approximate mass, as printed; included cable/connector configuration is not stated.

DM-J6006-2EC official product page and embedded table
电机重量 约335g

Motor over-temperature recommendation

≤100 °C

Manufacturer specification

Configuration: Current official product-page protection table; User-configured protection recommendation; not an ambient operating-temperature rating.

DM-J6006-2EC official product page and embedded table
建议不超过100℃

Motor status feedback

Position, velocity, torque, MOS temperature and winding temperature

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Temperature values refer to MOS average and internal winding average as described in the exact manual.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
POS 表示电机的位置信息 VEL 表示电机的速度信息 T 表示电机的扭矩信息 T_MOS 表示驱动上MOS 的平均温度,单位℃ T_Rotor 表示电机内部线圈的平均温度,单位℃

No-load output speed

240 rpm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
空载最大转速 240rpm

Outer diameter

76 mm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
外径 76mm

Output hole-circle diameter callout

20

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; leader-line attribution independently crosschecked. Literal linear callout only: no overall drawing unit header is printed, so no millimetres are inferred.

DM-J6006-2EC official product page and embedded table
20

Output locating-hole depth callout

2.5

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; leader-line attribution independently crosschecked. Literal linear callout only: no overall drawing unit header is printed, so no millimetres are inferred.

DM-J6006-2EC official product page and embedded table
2.5

Output threaded-hole count

6

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; count read from the literal threaded-hole callout. No alternative hole pattern or product variant inferred.

DM-J6006-2EC official product page and embedded table
6

Output threaded-hole depth callout

5

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; leader-line attribution independently crosschecked. Literal linear callout only: no overall drawing unit header is printed, so no millimetres are inferred.

DM-J6006-2EC official product page and embedded table
5

Output threaded-hole nominal thread

M3

Manufacturer specification

Configuration: Current official product-page mechanical drawing; Exact model and current page drawing; literal thread designation/class. Not an inferred length measurement.

DM-J6006-2EC official product page and embedded table
M3

Over-current protection recommendation

≤9.8 A

Manufacturer specification

Configuration: Current official product-page protection table; Protection threshold recommendation; not rated or peak operating current.

DM-J6006-2EC official product page and embedded table
建议不超过9.8A

Over-voltage protection recommendation

≤52 V

Manufacturer specification

Configuration: Current official product-page protection table; Configurable protection recommendation; not a rated supply limit.

DM-J6006-2EC official product page and embedded table
建议不超过52V

Over-voltage protection recommendation

32 V

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. ManualV1.0 threshold recommendation differs from current page 52 V; it is not a supply operating rating.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
电机过压防护,根据使用需求设定,建议不超过32V

Peak current

13 A

Manufacturer specification

Configuration: Current official product-page table; Source calls this generic current; phase versus supply is not specified. No role is inferred.

DM-J6006-2EC official product page and embedded table
峰值电流 13A

Peak torque

11 Nm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
峰值扭矩 11NM

Peak torque

12 Nm

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. ManualV1.0 alternative versus current page 11 Nm; unresolved revision applicability.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
峰值扭矩 12NM

Phase inductance

305 μH

Manufacturer specification

Configuration: Current official product-page table; At 25°C, as printed.

DM-J6006-2EC official product page and embedded table
相电感 305uh(@25℃)

Phase resistance

0.33 Ω

Manufacturer specification

Configuration: Current official product-page table; At 25°C, as printed.

DM-J6006-2EC official product page and embedded table
相电阻 0.33Ω(@25℃)

Pole pairs

14

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
极对数 14

Position command units

rad; velocity limit in rad/s

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Position-velocity mode commands use floating-point values; not a rated motion range.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
p_des,v_des 单位分别为rad 和rad/s,数据类型为float

Power connection

XT30

Reported claim

Configuration: Exact-model manufacturer manual; doc-6006-7; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual packing list; cable length retained when printed.

DAMIAO DM-J6006-2EC User Manual V1.0 (manufacturer-authored; hosted by dmBots)
电源连接线:XT30 公转母电源线×1

Rated current

4 A

Manufacturer specification

Configuration: Current official product-page table; Source calls this generic current; phase versus supply is not specified. No role is inferred.

DM-J6006-2EC official product page and embedded table
额定电流 4A

Rated output speed

150 rpm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
额定转速 150rpm

Rated torque

4 Nm

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
额定扭矩 4NM

Rated voltage

24 V

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
额定电压 24V(支持24-48V)

Reduction ratio

6:1

Manufacturer specification

Configuration: Current official product-page table; Ratio orientation retained literally as printed; no model options or alternative ratio variants inferred.

DM-J6006-2EC official product page and embedded table
减速比 6:1

Supported supply range

24–48 V

Manufacturer specification

Configuration: Current official product-page table; Source-qualified supported range; protection thresholds are separate settings.

DM-J6006-2EC official product page and embedded table
额定电压 24V(支持24-48V)

Tuning interface

UART; 921600 bps

Manufacturer specification

Configuration: Current official product-page table; Exact current product-page table; test setup and continuous-duty conditions are not stated.

DM-J6006-2EC official product page and embedded table
调参接口 UART@921600bps

Under-voltage supply floor

≥15 V

Manufacturer specification

Configuration: Current official product-page protection table; Under-voltage protection paragraph; nominal operating range remains separately specified.

DM-J6006-2EC official product page and embedded table
电源电压不低于15V

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