Motor Specifications
Motor Location
OpenArm uses the DAMIAO 43 series and DAMIAO 8009P motors. To efficiently achieve high payload capacity, different motors are selected for each joint from the shoulder to the end-effector. To ensure greater rigidity and precision, motors equipped with cross-roller bearings are used in sections supported on one side. Although the DAMIAO 4340 series is not a QDD motor, it was chosen to balance high payload capacity with a clean, compact appearance.
Detailed Specifications
| Parameter | DM-J4310-2EC V1.1 | DM4340 series | DM-J8009P-2EC |
|---|---|---|---|
| Datasheet | Datasheet of DM-J4310-2EC V1.1 | Datasheet of DM-J4340-2EC, Drawing of DM-J4340P-2EC | Datasheet of DM-J8009-2EC |
| Rated Voltage | 24V | 24V | 24V (Supports 24–48V) |
| Rated Current | 2.5A | 2.5A | 20A |
| Peak Current | 7.5A | 8A | 50A |
| Rated Torque | 3 Nm | 9 Nm | 20 Nm |
| Peak Torque | 7 Nm | 27 Nm | 40 Nm |
| Rated Speed | 120 rpm | 36 rpm | 24V: 100 rpm / 48V: 200 rpm |
| Max No-load Speed | 200 rpm | 52 rpm | 24V: 160 rpm / 48V: 320 rpm |
| Reduction Ratio | 10:1 | 40:1 | 9:1 |
| Number of Pole Pairs | 14 | 14 | 21 |
| Phase Inductance | 340 μH | 317 μH | 61 μH (at 25°C) |
| Phase Resistance | 650 mΩ | 760 mΩ | 90 mΩ (at 25°C) |
| Outer Diameter | 56 mm | 57 mm | 98 mm |
| Height | 46 mm | 53.3 mm | 61.7 mm |
| Motor Weight | 300 g | 362 g | 896 g |
| Encoder Bits | 14-bit | 14-bit | 14-bit |
| No. of Encoders | 2 | 2 | 2 |
| Encoder Type | Magnetic encoder (single-turn) | Magnetic encoder (single-turn) | Magnetic encoder (single-turn) |
| Control Interface | CAN | CAN | CAN |
📌 Note: While the linked datasheet is for the DM8009 model, the actual motor used in our arms is the DM8009P. The specifications of both models are nearly identical, and for all practical purposes, the DM8009 datasheet provides an accurate reference for evaluating the motor's performance and compatibility.
For detailed specifications and resources on the motors used in this project, please visit the official Damiao GitHub page. It includes datasheets, communication protocols, and configuration tools for various models.