Product details

DM-J8009P-2EC

Actuators & Joint Modules

Shenzhen Damao Technology Co., Ltd.

DM-J8009P-2EC

About this product

DM-J8009P-2EC V1.1 is an integrated planetary joint motor with 20 Nm rated torque and 40 Nm peak torque in the current manufacturer table. It has a printed 9:1 reduction ratio, a 98 mm outer diameter and a 61.7 mm body height, with two 16-bit encoders and CAN control. This explicitly named V1.1 revision uses 16-bit magnetic feedback and a cross-roller output bearing. The earlier unversioned page has different encoder, mass and speed claims and is not treated as interchangeable.

Model
DM-J8009P-2EC V1.1
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-J8009P-2EC V1.1 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; 2 pin; 300 mm cable

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; 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-J8009P-2EC product V1.1 User Manual V1.0 (manufacturer-authored; hosted by dmBots)
CAN 通信端子:GH1.25 连接线-2pin(线长300mm) ×1

Can feedback encoding

Position 16 bits; velocity and torque 12 bits

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; 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-J8009P-2EC product V1.1 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 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-J8009P-2EC V1.1 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-J8009P-2EC V1.1 official product page and embedded table
控制接口 CAN@1Mbps

Control modes

MIT; Position-velocity; Velocity; Force-position hybrid

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
控制模式 MIT模式;位置速度模式;速度模式;力位混控模式

Debug uart connector

GH1.25; 3 pin; 300 mm cable

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual packing list.

DAMIAO DM-J8009P-2EC product V1.1 User Manual V1.0 (manufacturer-authored; hosted by dmBots)
调试串口信号线:GH1.25 连接线-3pin(线长300mm) ×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-J8009P-2EC V1.1 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-J8009P-2EC V1.1 official product page and embedded table
编码器个数 2

Encoder resolution

16 bit

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
编码器位数 16位

Encoder type

Magnetic; single-turn absolute output-shaft position

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
编码器类型 磁编(单圈输出轴一圈绝对位置)

Firmware updates

Supported

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
支持固件升级

Front threaded-hole depth callout

6

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-J8009P-2EC V1.1 official product page and embedded table
6

Height

61.7 mm

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
高度 61.7mm

Mit derivative gain range

0–5

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; 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-J8009P-2EC product V1.1 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-8009P-9; 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-J8009P-2EC product V1.1 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

950 g

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
电机重量 约950g

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-J8009P-2EC V1.1 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-8009P-9; 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-J8009P-2EC product V1.1 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

168 rpm

Manufacturer specification

Configuration: Current official product-page table; 24 V; Printed voltage condition 24 V.

DM-J8009P-2EC V1.1 official product page and embedded table
空载最大转速 168rpm@24V;335rpm@48V

No-load output speed

335 rpm

Manufacturer specification

Configuration: Current official product-page table; 48 V; Printed voltage condition 48 V.

DM-J8009P-2EC V1.1 official product page and embedded table
空载最大转速 168rpm@24V;335rpm@48V

Outer diameter

98 mm

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
外径 98mm

Output bearing

Cross-roller bearing

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Explicit contrast to DM-J8009-2EC; applies to selected P version.

DAMIAO DM-J8009P-2EC product V1.1 User Manual V1.0 (manufacturer-authored; hosted by dmBots)
DM-J8009P-2EC 输出轴是交叉滚子轴承,DM-J8009-2EC 输出 轴是薄壁深沟球轴承。

Output hole-circle diameter callout

32

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-J8009P-2EC V1.1 official product page and embedded table
32

Output threaded-hole depth callout

8

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-J8009P-2EC V1.1 official product page and embedded table
8

Output threaded-hole nominal thread

M5

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-J8009P-2EC V1.1 official product page and embedded table
M5

Over-current protection recommendation

≤0.98 × peak current

Manufacturer specification

Configuration: Current official product-page protection table; Fraction of peak current as explicitly stated; not amperes.

DM-J8009P-2EC V1.1 official product page and embedded table
建议不超过0.98倍峰值电流

Over-voltage protection recommendation

≤52 V

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
建议不超过52V

Peak phase current

40 A

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
峰值相电流 40A

Peak torque

40 Nm

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
峰值扭矩 40NM

Phase inductance

80 μH

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
相电感 80uh

Phase resistance

0.145 Ω

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
相电阻 0.145Ω

Pole pairs

21

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
极对数 21

Position command units

rad; velocity limit in rad/s

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; 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-J8009P-2EC product V1.1 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 male-to-female; 200 mm cable

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; 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-J8009P-2EC product V1.1 User Manual V1.0 (manufacturer-authored; hosted by dmBots)
电源连接线:XT30 公转母电源线(线长200mm) ×1

Power-on position feedback range

−π to π rad

Reported claim

Configuration: Exact-model manufacturer manual; doc-8009P-9; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Single-turn startup feedback interval; not mechanical travel limit.

DAMIAO DM-J8009P-2EC product V1.1 User Manual V1.0 (manufacturer-authored; hosted by dmBots)
上电后,电机位置输出限定在[-π,π]rad 之间。

Rated output speed

100 rpm

Manufacturer specification

Configuration: Current official product-page table; 24 V; Printed voltage condition 24 V.

DM-J8009P-2EC V1.1 official product page and embedded table
额定转速 100rpm@24V;200rpm@48V

Rated output speed

200 rpm

Manufacturer specification

Configuration: Current official product-page table; 48 V; Printed voltage condition 48 V.

DM-J8009P-2EC V1.1 official product page and embedded table
额定转速 100rpm@24V;200rpm@48V

Rated phase current

20 A

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
额定相电流 20A

Rated torque

20 Nm

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
额定扭矩 20NM

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-J8009P-2EC V1.1 official product page and embedded table
额定电压 24V(支持24V-48V)

Rear mounting-hole-circle diameter callout

90

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-J8009P-2EC V1.1 official product page and embedded table
90

Rear 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-J8009P-2EC V1.1 official product page and embedded table
6

Rear threaded-hole depth callout

4

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-J8009P-2EC V1.1 official product page and embedded table
4

Rear threaded-hole nominal thread

M4

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-J8009P-2EC V1.1 official product page and embedded table
M4

Reduction ratio

9:1

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
减速比 9:1

Supported supply range

24–48 V

Manufacturer specification

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

DM-J8009P-2EC V1.1 official product page and embedded table
额定电压 24V(支持24V-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-J8009P-2EC V1.1 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-J8009P-2EC V1.1 official product page and embedded table
电源电压不低于15V

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