The DM‑J6006‑2EC is a compact and highly integrated brushless servo joint motor designed for small robotic arms, humanoid robots, and lightweight robotic joints. It integrates the motor, driver, reducer, and dual encoders into a single compact unit, delivering precise motion control, high efficiency, and reliable CAN communication.
Main Features
Dual encoder design with absolute single‑turn output, ensuring position accuracy even after power‑off.
Motor + driver integrated structure for minimal size, low weight, and easy installation.
Supports MIT mode, speed mode, and position mode (with trapezoidal acceleration/deceleration).
CAN bus feedback for speed, position, torque, and temperature.
PC visualization tool support and firmware upgrade capability.
Dual temperature protection system enhances reliability.
Motor Parameters
Rated Voltage: 24V (supports 24–48V)
Rated Current: 4A
Peak Current: 13A
Rated Torque: 4Nm
Peak Torque: 11Nm
Rated Speed: 150rpm
No‑load Speed: 240rpm
Motor Characteristics
Gear Ratio: 6:1
Pole Pairs: 14
Phase Inductance: 305µH (@25°C)
Phase Resistance: 0.33Ω (@25°C)
Structure & Weight
Outer Diameter: 76mm
Height: 36.5mm
Weight: approx. 335g
Encoder
Resolution: 14‑bit
Quantity: 2 (dual encoders)
Type: Magnetic, single‑turn absolute
Communication
Control Interface: CAN @ 1Mbps
Debug Interface: UART @ 921600bps
Control Modes
MIT Mode
Speed Mode
Position Mode (with trapezoidal motion)
Control & Protection
Driver Over‑temperature: 120°C
Motor Over‑temperature: ≤100°C
Over‑voltage Protection: ≤32V
Under‑voltage Protection: A supply voltage below 15V will cause the system to exit "Enable Mode".
Over‑current Protection: ≤9.8A
CAN Communication Loss Protection: Automatically exits "Enable Mode" if CAN commands are missing within the set period.
Package Contents
Motor with integrated driver ×1
XT30 power cable ×1
CAN cable GH1.25‑2Pin ×1
UART debug cable GH1.25‑3Pin ×1
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