Product details

DM-J10010L-2EC

Actuators & Joint Modules

Shenzhen Damao Technology Co., Ltd.

DM-J10010L-2EC

About this product

DM-J10010L-2EC is an integrated planetary joint motor with 40 Nm rated torque and 120 Nm peak torque in the current manufacturer table. It has a printed 10:1 reduction ratio, a 120 mm outer diameter and a 53 mm body height, with two 14-bit encoders and CAN control. The 53 mm height excludes a 3 × 3 mm locating-pin projection. The manual distinguishes phase current from the page’s generic current labels and says RS485 communication is not yet enabled.

Model
DM-J10010L-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-J10010L-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 feedback encoding

Position 16 bits; velocity and torque 12 bits

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; 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-J10010L-2EC User Manual V1.1 (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-J10010L-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-J10010L-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-J10010L-2EC official product page and embedded table
控制模式 MIT模式;速度模式;位置模式

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-J10010L-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-J10010L-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-J10010L-2EC official product page and embedded table
编码器位数 14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-J10010L-2EC 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-J10010L-2EC official product page and embedded table
支持固件升级

Height

53 mm

Manufacturer specification

Configuration: Current official product-page table; Excludes protruding locating pin; table separately prints diameter × height 3 ×3 mm.

DM-J10010L-2EC official product page and embedded table
高度 53mm(不含定位销凸出部分,突出部分直径*高度:3*3mm)

Housing mounting-hole-circle diameter tolerance callout

106 ±0.12

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-J10010L-2EC official product page and embedded table
106 ±0.12

Housing threaded-hole count

10

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-J10010L-2EC official product page and embedded table
10

Housing 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-J10010L-2EC official product page and embedded table
5

Housing threaded-hole nominal thread and class

M4-6H

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-J10010L-2EC official product page and embedded table
M4-6H

Locating-pin diameter × height

3 × 3 mm

Manufacturer specification

Configuration: Current official product-page table; Protruding locating pin excluded from the 53 mm height.

DM-J10010L-2EC official product page and embedded table
高度 53mm(不含定位销凸出部分,突出部分直径*高度:3*3mm)

Maximum-current normalization reference

99.74 A

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Force-position hybrid command normalization reference; not rated/peak operating current.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
电流标幺值:实际电流值除以最大电流值,J10010L 最大电流99.74A。

Mit derivative gain range

0–5

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; 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-J10010L-2EC User Manual V1.1 (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-10010L-8; 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-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
Kp 的范围为[0,500],Kd 的范围为[0,5]

Motor mass

1,372 g

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
电机重量 约1372g

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-J10010L-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-10010L-8; 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-J10010L-2EC User Manual V1.1 (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

100 rpm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
空载最大转速 100rpm@24V;200rpm@48V

No-load output speed

200 rpm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
空载最大转速 100rpm@24V;200rpm@48V

Outer diameter

120 mm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
外径 120mm

Output hole-circle diameter tolerance callout

36 ±0.12

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-J10010L-2EC official product page and embedded table
36 ±0.12

Output threaded-hole count

9

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-J10010L-2EC official product page and embedded table
9

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-J10010L-2EC official product page and embedded table
5

Output threaded-hole nominal thread and class

M5-6H

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-J10010L-2EC official product page and embedded table
M5-6H

Over-current protection recommendation

≤95 A

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
建议不超过95A

Over-voltage protection recommendation

≤58 V

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
建议不超过58V

Peak current

95 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-J10010L-2EC official product page and embedded table
峰值电流 95A

Peak phase current

95 A

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual table explicitly labels phase current; current webpage labels its 95 A row only as generic peak current.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
峰值相电流 95A

Peak torque

120 Nm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
峰值扭矩 120NM

Phase inductance

85 μH

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
相电感 85uh

Phase resistance

0.11 Ω

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
相电阻 0.11Ω

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-J10010L-2EC 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-10010L-8; 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-J10010L-2EC User Manual V1.1 (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 daisy-chain recommendation

At most 2 motors

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Manufacturer recommendation for the two power interfaces; not a network node count.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
电机包含两个电源接口,任一接 口可单独连接使用,也可多机串联 电源连接接口-2 使用,方便走线。建议串联数量不 超过2 台。

Rated current

23.5 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-J10010L-2EC official product page and embedded table
额定电流 23.5A

Rated output speed

70 rpm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
额定转速 70rpm@24V;100rpm@48V

Rated output speed

100 rpm

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
额定转速 70rpm@24V;100rpm@48V

Rated phase current

23.5 A

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Exact manual table explicitly labels phase current; current webpage labels its 23.5 A row only as generic rated current.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
额定相电流 23.5A

Rated 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-J10010L-2EC official product page and embedded table
额定扭矩 40NM

Rated voltage

48 V

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
额定电压 48V(支持宽压24-48V)

Reduction ratio

10:1

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
减速比 10:1

Rs485 availability

Not enabled for use

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Physical connector presence does not establish enabled protocol support.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
RS485 通信暂未开放使用。

Supported supply range

24–48 V

Manufacturer specification

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

DM-J10010L-2EC official product page and embedded table
额定电压 48V(支持宽压24-48V)

Termination resistor switches

RS485 switch 3:120Ω; CAN switch 4:120Ω

Reported claim

Configuration: Exact-model manufacturer manual; doc-10010L-8; Manufacturer-authored document hosted in the public dmBots repository; manual revision is not a product release date. Switches 1and 2 reserved in manual.

DAMIAO DM-J10010L-2EC User Manual V1.1 (manufacturer-authored; hosted by dmBots)
3——485 120Ω终端电阻 终端电阻拨码开关-1 4——CAN 120Ω终端电阻

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-J10010L-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-J10010L-2EC official product page and embedded table
电源电压不低于15V

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