1. Introduction
The DM-J4310-2EC V1.1 is a high-performance brushless servo motor joint motor featuring an integrated drive and two encoders. Designed for precision applications, it offers compact structure, high integration, and versatile control modes (MIT, speed, position). This motor is available in 24V and 48V variants and is equipped with advanced protection features to ensure reliable operation.
2. Safety Precautions
Adhering to these safety guidelines is crucial for preventing damage to the motor and ensuring user safety:
- Avoid Hot Swapping: Do not connect or disconnect the motor while power is applied. If hot-swapping is unavoidable, implement external protection circuits such as 220uF (50V) electrolytic capacitors and SMDJ26CA (TVS) in parallel behind the switch to absorb voltage impulses. Consider adding an over-voltage protection circuit or a hot-swappable protection circuit.
- Environmental Conditions: Operate the motor strictly within the specified working environment and temperature ranges to prevent permanent damage.
- Prevent Debris: Ensure no foreign debris enters the rotor area, as this can cause abnormal operation.
- Pre-Use Inspection: Before each use, inspect all parts for good condition. Discontinue use if any parts are missing, aged, or damaged.
- Correct Wiring: Verify all wiring connections are correct and secure before applying power.
- Avoid Contact During Operation: Do not touch the electronic rotor part while the motor is in operation to prevent accidents. High torque can cause the motor to heat up significantly; exercise caution to avoid burns.
- No Disassembly: Do not disassemble the motor. Disassembly can compromise the motor's control accuracy and lead to abnormal operation.
3. Product Features
- Dual Encoders: Equipped with two single-turn absolute magnetic encoders on the output shaft, ensuring position retention even when power is off.
- Integrated Design: Motor and driver are integrated into a compact structure, offering high integration and space efficiency.
- Debugging & Firmware: Supports visual debugging via a host computer and allows for firmware upgrades.
- CAN Bus Feedback: Provides real-time feedback on motor speed, position, torque, and temperature through the CAN bus.
- Temperature Protection: Features double temperature protection functions for both the drive and the motor.
- Position Mode Control: Supports trapezoidal acceleration and deceleration in position mode for smooth and precise movements.
4. Specifications
Motor Parameters (24V)
| Parameter | Value |
|---|---|
| Rated Voltage | 24V |
| Rated Current | 2.5A |
| Peak Current | 7.5A |
| Rated Torque | 3NM |
| Peak Torque | 7NM |
| Rated Speed | 120rpm |
| Maximum No-load Speed | 200rpm |
Motor Characteristic Values
| Parameter | Value |
|---|---|
| Reduction Ratio | 10:1 |
| Number of Pole Pairs | 14 |
| Phase Inductance | 340uH |
| Phase Resistance | 650mΩ |
Structure & Weight
| Parameter | Value |
|---|---|
| Outer Diameter | 57mm / 2.2" |
| Height | 46mm / 1.8" |
| Motor Weight | Approx. 300g / 0.7lb |
| Material | Metal |
Encoder
| Parameter | Value |
|---|---|
| Encoder Bits | 14 bits |
| Number of Encoders | 2 |
| Encoder Type | Magnetic (Single-turn) |
Communication
| Interface | Specification |
|---|---|
| Control Interface | CAN at 1Mbps |
| Parameter Adjustment Interface | UART at 921600bps |
Control & Protection
- Control Modes: MIT mode, Speed mode, Position mode.
- Protection Features:
- Drive Over-temperature Protection: Motor exits enable mode if drive temperature exceeds 120°C.
- Motor Over-temperature Protection: Motor exits enable mode if motor temperature exceeds 100°C (recommended max).
- Motor Over-voltage Protection: Motor exits enable mode if voltage exceeds 32V (recommended max).
- Communication Loss Prevention: Motor automatically exits enable mode if no CAN command is received within a set period.
- Motor Over-current Protection: Motor exits enable mode if current exceeds 9.8A (recommended max).
- Motor Under-voltage Protection: Motor exits enable mode if power supply voltage drops below a set value (recommended not less than 15V).
5. Package Contents
The package contents vary based on the selected variant:
Standard Motor Package (24V/48V MOTOR)
- 1 x DM-J4310-2EC V1.1 Motor (including integrated drive)
- 1 x Power cable with CAN communication terminal (XT30 (2+2)-F plug connection cable)
- 1 x Debugging serial signal cable (GH1.25 connection cable-3pin)
USB to CAN Package (24V/48V USB to CAN)
- 1 x DM-J4310-2EC V1.1 Motor (including integrated drive)
- 1 x Power cable with CAN communication terminal (XT30 (2+2)-F plug connection cable)
- 1 x Debugging serial signal cable (GH1.25 connection cable-3pin)
- 1 x USB to CAN module
Full Set Package (24V/48V FULL set)
- 1 x DM-J4310-2EC V1.1 Motor (including integrated drive)
- 1 x Power cable with CAN communication terminal (XT30 (2+2)-F plug connection cable)
- 1 x Debugging serial signal cable (GH1.25 connection cable-3pin)
- 1 x USB to CAN module
- 1 x Power adapter board
- 1 x Two-ended cable
Packaging Weight: Approximately 0.5kg.
6. Setup and Installation
Follow these steps for proper setup and installation of your motor:
- Physical Mounting: Securely mount the motor using appropriate fasteners. Refer to the dimension diagrams for mounting hole specifications.
- Power Connection: Connect the power supply to either Power Interface-1 or Power Interface-2 using the provided XT30 (2+2)-F plug connection cable. Ensure the power supply matches the motor's rated voltage (24V or 48V). Both power interfaces can be used interchangeably or in series for wiring convenience.
- CAN Communication: Connect external control equipment through the CAN communication terminal. This interface allows for receiving CAN control commands and feedback on motor status information.
- Debugging Connection: For debugging and firmware upgrades, use the GH1.25 cable-3pin to connect the Debugging Serial Port-3 to a PC via a USB to CAN debugging tool (or a universal USB to serial port module). This enables setting motor parameters using the DAMIAO debugging assistant.
7. Operation
The DM-J4310-2EC V1.1 motor supports three primary control modes: MIT mode, Speed mode, and Position mode. Control commands and parameter adjustments are primarily performed via the CAN bus and UART interface, respectively.
- Control via CAN Bus: Utilize the CAN communication terminal to send control commands for desired motor operation (e.g., setting speed, position targets, or torque limits). The CAN bus also provides real-time feedback on the motor's operational status, including speed, current position, torque, and internal temperature.
- Parameter Adjustment & Firmware: Connect to the UART interface using a debugging tool and host computer software to adjust detailed motor parameters and perform firmware updates. This allows for fine-tuning performance and accessing new features.
- Position Mode Operation: When operating in position mode, the motor supports trapezoidal acceleration and deceleration profiles, enabling smooth and controlled transitions between target positions.
8. Maintenance
Proper maintenance ensures the longevity and optimal performance of your motor:
- Keep Clean: Regularly inspect the motor for any accumulation of dust or debris, especially around moving parts and ventilation openings. Ensure no foreign objects enter the rotor.
- Temperature Monitoring: While the motor has built-in over-temperature protection, it is advisable to monitor operating temperatures. Avoid prolonged operation at temperatures exceeding 100°C for the motor and 120°C for the drive.
- Avoid Disassembly: Do not attempt to disassemble the motor. Unauthorized disassembly can lead to loss of control accuracy and irreversible damage, voiding any potential support.
- Wiring Integrity: Periodically check all wiring for secure connections and signs of wear or damage. Replace any compromised cables immediately.
9. Troubleshooting
This section outlines common issues and their potential solutions. The motor's built-in protection mechanisms will typically disable the motor in case of critical faults.
| Problem | Possible Cause | Solution |
|---|---|---|
| Motor not enabling or stopping unexpectedly |
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| Abnormal motor operation (e.g., erratic movement, noise) |
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If issues persist after attempting these solutions, please refer to the support section.
10. User Tips
Based on common user inquiries and feedback, here are some tips for optimizing your experience:
- Software & Documentation: Always refer to the latest motor-related information and debugging software available on the official Gitee repository for the DM-J4310-2EC. This ensures you have the most up-to-date firmware and tools. Link: Motor-related Information
- Power Supply Stability: Ensure your power supply is stable and capable of delivering the peak current required by the motor (7.5A for 24V variant) to avoid unexpected shutdowns due to under-voltage or over-current protection.
11. Support
For further assistance, technical inquiries, or to report issues, please refer to the official documentation and resources:
- Online Documentation: Access the latest motor-related information, including software and detailed guides, at: https://gitee.com/kit-miao/damiao/tree/master/%E5%85%B3%E8%8A%82%E7%94%B5%E6%9C%BA/DM-J4310-2EC
- Surge Test Analysis: For detailed information on surge test problem analysis and solutions based on LM5067 hot-swappable circuits, refer to: https://www.ti.com.cn/cn/lit/an/zhca812/zhca812.pdf?ts=1696232742832
Please have your product model (DM-J4310-2EC) ready when contacting support for faster service.
