The DM‑J4310‑2EC V1.2 (24V) is a highly integrated brushless servo joint motor designed for compact,
high‑precision robotic applications such as robotic arms and humanoid robot joints. It combines a
high‑performance motor, integrated driver, 10:1 precision gearbox, and dual encoders, providing
multi‑mode control (MIT, speed, position, hybrid force‑position) with real‑time CAN feedback.
This actuator is ideal for advanced motion control systems requiring accuracy, responsiveness, and reliability.
Main Features
Dual encoders: Absolute single‑turn output ensures position accuracy even after power loss.
Highly integrated design: Motor and driver combined into a compact and lightweight module.
Flexible control modes: MIT mode, speed control, position control, and hybrid force‑position mode.
Rich real‑time feedback: Speed, position, torque, and temperature data via CAN bus.
Easy debugging: Supports PC visual tuning tools and firmware upgrades.
Multiple protection mechanisms: Over‑temperature, over‑voltage, under‑voltage, over‑current, and communication‑loss protection.
Optimized position mode: Supports trapezoidal motion profiles for smooth and precise movements.
Specifications
1. Motor Parameters
Rated Voltage: 24V
Rated Phase/Power Current: 4.9A / 3.1A
Peak Phase/Power Current: 20A / 16.5A
Rated Torque: 3.5Nm
Peak Torque: 12.5Nm
Rated Speed: 120rpm
No‑load Speed: 200rpm
2. Motor Characteristics
Gear Ratio: 10:1
Pole Pairs: 14
Phase Inductance: approx. 320µH
Phase Resistance: approx. 580mΩ
3. Structure & Weight
Outer Diameter: 57mm
Height: 46mm
Weight: approx. 325g
4. Encoder
Resolution: 16‑bit
Encoders: 2 (dual encoders)
Type: Magnetic single‑turn absolute
5. Communication
Control Interface: CAN @ 1Mbps
Debug Interface: UART @ 921600bps
6. Control Modes
MIT Mode
Speed Mode
Position Mode (with trapezoidal profiles)
Hybrid Force‑Position Mode
7. Protection
Driver Over‑temperature: 120°C
Motor Over‑temperature: ≤100°C
Over‑voltage: ≤32V
Under‑voltage: ≥15V
Over‑current: ≤9.8A
Communication Loss Protection: Auto disable when CAN timeout
Package Contents
DM‑J4310‑2EC V1.2 (24V) Motor × 1
XT30 Power Cable × 1
CAN Cable GH1.25‑2Pin × 1
UART Debug Cable GH1.25‑3Pin × 1
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